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arXiv · 1910.11625

Autonomous docking using direct optimal control

Andreas B. Martinsen·Anastasios M. Lekkas·Sebastien Gros
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Abstract

We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The proposed method is an all-encompassing procedure for performing both docking, maneuvering, dynamic positioning and control allocation. In addition, we show that the method can be implemented as a real-time MPC-based algorithm on simulation results of a supply vessel.

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Andreas B. Martinsen, Anastasios M. Lekkas, Sebastien Gros. 2019-10-25. Autonomous docking using direct optimal control. https://doi.org/10.1016/j.ifacol.2019.12.290

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