Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation

Berthing Trajectory Tracking of Underactuated Surface Vehicle Based on NMPC and Position Estimation

In order to realize waypoint-based automatic berthing alongside or astern, a generation algorithm of dynamic virtual ships is proposed to guide the underactuated surface vehicle (USV). In this paper, a nonlinear model predictive control (NMPC) problem is set up with multiple shooting method, which l...

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Bibliographic Details
Main Authors: Zuxin Wu, Baigang Zhao, Xu Han, Di Lu
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
USV
trajectory tracking
berthing
motion planning
NMPC
MHE
Online Access:https://ieeexplore.ieee.org/document/10489956/

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