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Docking Control of a Fully-Actuated Autonomous Vessel using Model Predictive Path Integral Control

  • This paper presents the docking control of an autonomous vessel using the nonlinear Model Predictive Path Integral (MPPI) approach. This algorithm is based on a path integral over stochastic trajectories and can be parallelized easily. The controller parameters are tuned offline using knowledge of the system and simulations, including nonlinear state and disturbance observer. The cost function implicitly contains information regarding the surrounding of the docking position. This approach allows continuous optimization of the trajectory with respect to the system state, disturbance state and actuator dynamics. The control strategy has been tested in full-scale experiments using the solar research vessel Solgenia. The investigated MPPI controller has demonstrated excellent performance in both, simulation and real-world experiments. This paper addresses the question of how the MPPI algorithm can be applied to dock a fully-actuated vessel and what benefits its application achieves.

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Author:Hannes HomburgerORCiD, Stefan WirtensohnORCiD, Johannes ReuterORCiD
Parent Title (English):Proceedings of the 20th European Control Conference (ECC), 12-15 July 2022, London, United Kingdom
Document Type:Conference Proceeding
Year of Publication:2022
Release Date:2022/09/20
First Page:755
Last Page:760
Volltext für Angehörige der Hochschule Konstanz via Datenbank IEEE Xplore abrufbar.
Institutes:Institut für Systemdynamik - ISD
Relevance:Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband)
Open Access?:Nein
Licence (English):License LogoLizenzbedingungen IEEE