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arXiv · 2004.07793

Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments

Glenn Bitar·Andreas B. Martinsen·Anastasios M. Lekkas·Morten Breivik
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Abstract

We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory planner provides collision-free trajectories by considering a map with static obstacles, and produces feasible trajectories through inclusion of a mathematical model of the ASV and its actuators. The DP controller tracks the time-parametrized position, velocity and acceleration produced by the trajectory planner using proportional-integral-derivative feedback with velocity and acceleration feed forward. The method's performance is tested on a small ASV in confined waters in Trondheim, Norway. The ASV performs collision-free docking maneuvers with respect to static obstacles when tracking the generated reference trajectories and achieves successful docking.

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Glenn Bitar, Andreas B. Martinsen, Anastasios M. Lekkas, Morten Breivik. 2020-04-16. Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments. https://arxiv.org/abs/2004.07793

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