Comparison of Advanced Modeling Approaches for Autonomous Docking of Fully Actuated Vessels
- This paper presents a systematic comparison of different advanced approaches for motion prediction of vessels for docking scenarios. Therefore, a conventional nonlinear gray-box-model, its extension to a hybrid model using an additional regression neural network (RNN) and a black-box-model only based on a RNN are compared. The optimal hyperparameters are found by grid search. The training and validation data for the different models is collected in full-scale experiments using the solar research vessel Solgenia. The performances of the different prediction models are compared in full-scale scenarios. %To use the investigated approaches for controller design, a general optimal control problem containing the advanced models is described. These can improve advanced control strategies e.g., nonlinear model predictive control (NMPC) or reinforcement learning (RL). This paper explores the question of what the advantages and disadvantages of the different presented prediction approaches are and how they can be used to improve the docking behavior of a vessel.
Author: | Hannes HomburgerORCiD, Stefan WirtensohnORCiD, Moritz DiehlORCiD, Johannes ReuterORCiD |
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DOI: | https://doi.org/10.1016/j.ifacol.2022.10.469 |
ISSN: | 2405-8963 |
Parent Title (English): | 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS 2022), September 14-16 2022, DTU Kongens Lyngby, Denmark (IFAC PapersOnLine) |
Volume: | 55 |
Publisher: | Elsevier |
Place of publication: | Amsterdam |
Document Type: | Conference Proceeding |
Language: | English |
Year of Publication: | 2022 |
Release Date: | 2022/11/10 |
Tag: | Nonlinear system identification; Statistical data analysis; Maritime systems |
Issue: | 31 |
First Page: | 451 |
Last Page: | 456 |
Institutes: | Institut für Systemdynamik - ISD |
Open Access?: | Ja |
Relevance: | Peer reviewed Publikation in Liste der AG4 |
Licence (German): | Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International |