Optimization-Based Automatic Docking and Berthing of ASVs Using Exteroceptive Sensors: Theory and Experiments
Docking of autonomous surface vehicles (ASVs) involves intricate maneuvering at low speeds under the influence of unknown environmental forces, and is often a challenging operation even for experienced helmsmen. In this paper, we propose an optimization-based trajectory planner for performing automa...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9256302/ |