Symbolic Control for Autonomous Docking of Marine Surface Vessels
Abstrak
We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as control inputs and synthesize a symbolic controller in real-time. The desired velocities are then executed by the vessel's low-level velocity feedback control loop. We next investigate methods to optimize the performance of the proposed control scheme. The results are evaluated on a simulation model of a marine surface vessel in the presence of static obstacles and, for the first time, through physical experiments on a scale model vessel.
Topik & Kata Kunci
Penulis (7)
Elizabeth Dietrich
Emir Cem Gezer
Bingzhuo Zhong
Murat Arcak
Majid Zamani
Roger Skjetne
Asgeir Johan Sørensen
Akses Cepat
- Tahun Terbit
- 2025
- Bahasa
- en
- Sumber Database
- arXiv
- Akses
- Open Access ✓