相关论文: Autonomous docking using direct optimal control

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…

This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…

This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new…

This paper presents a time-constrained model predictive control strategy for the 6 degree-of-freedom (6DOF) autonomous rendezvous and docking problem between a controllable "deputy" spacecraft and an uncontrollable "chief" spacecraft. The…

Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…

Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…

We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with…

Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…

This paper studies the model of the probe-drogue aerial refueling system under aerodynamic disturbances, and proposes a docking control method based on terminal iterative learning control to compensate for the docking errors caused by…

This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…

Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…

Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…

In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…

A policy for six-degree-of-freedom docking maneuvers is developed through reinforcement learning and implemented as a feedback control law. Reinforcement learning provides a potential framework for robust, autonomous maneuvers in uncertain…

This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…

The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…

With the development of autonomous driving technology, there are increasing demands for vehicle control, and MPC has become a widely researched topic in both industry and academia. Existing MPC control methods based on vehicle kinematics or…

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…