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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Detalles Bibliográficos

Autores principales:	Zuxin Wu, Baigang Zhao, Xu Han, Di Lu
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	IEEE 2024-01-01
Colección:	IEEE Access
Materias:	USV trajectory tracking berthing motion planning NMPC MHE
Acceso en línea:	https://ieeexplore.ieee.org/document/10489956/
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