Model Predictive Control for Path Following and Collision-Avoidance of Autonomous Ships in Inland Waterways
Chapter
Accepted version
Permanent lenke
https://hdl.handle.net/11250/3086118Utgivelsesdato
2023Metadata
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Originalversjon
10.1109/MED59994.2023.10185796Sammendrag
While existing algorithms for open water navigation typically address path following and COLREGS compliant collision-avoidance, the unique challenges of inland waterways require a more tailored approach. We propose a two-level control strategy that employs Model Predictive Control (MPC) and Scenario-Based Model Predictive Control (SB-MPC) for path following and collision-avoidance. The algorithm proposes integrated strategies for handling riparian land, static obstacles, and dynamic obstacles. The method is tested in simulation