dc.contributor.author | Bitar, Glenn Ivan | |
dc.contributor.author | Martinsen, Andreas Bell | |
dc.contributor.author | Lekkas, Anastasios | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2021-09-10T06:29:48Z | |
dc.date.available | 2021-09-10T06:29:48Z | |
dc.date.created | 2021-01-19T10:33:49Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/2775062 | |
dc.description.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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | International Federation of Automatic Control (IFAC) | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.identifier.doi | http://dx.doi.org/10.1016/j.ifacol.2020.12.1451 | |
dc.identifier.cristin | 1874015 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |