Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments
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.
Cite
@article{arxiv.2004.07793,
title = {Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments},
author = {Glenn Bitar and Andreas B. Martinsen and Anastasios M. Lekkas and Morten Breivik},
journal= {arXiv preprint arXiv:2004.07793},
year = {2020}
}
Comments
12 pages, 7 figures. Accepted to the IFAC World Congress 2020