dc.contributor.author | Mahipala, Dhanika Chamath Gunarathna | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2023-08-29T08:07:47Z | |
dc.date.available | 2023-08-29T08:07:47Z | |
dc.date.created | 2023-07-31T10:27:57Z | |
dc.date.issued | 2023 | |
dc.identifier.isbn | 979-8-3503-1543-1 | |
dc.identifier.uri | https://hdl.handle.net/11250/3086118 | |
dc.description.abstract | 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 | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | 2023 31st Mediterranean Conference on Control and Automation (MED) | |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | Model Predictive Control for Path Following and Collision-Avoidance of Autonomous Ships in Inland Waterways | en_US |
dc.title.alternative | Model Predictive Control for Path Following and Collision-Avoidance of Autonomous Ships in Inland Waterways | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.identifier.doi | 10.1109/MED59994.2023.10185796 | |
dc.identifier.cristin | 2164023 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |