2020
DOI: 10.1016/j.ifacol.2020.12.1451
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Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments

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Cited by 32 publications
(13 citation statements)
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“…An autonomous docking algorithm that use OCP-based trajectory planning combined with the dynamic positioning (DP) controller is presented in [19]. This research separates the docking control system into two subsystems: trajectory planner and trajectory-tracking system.…”
Section: Path Planning In Confined Areamentioning
confidence: 99%
“…An autonomous docking algorithm that use OCP-based trajectory planning combined with the dynamic positioning (DP) controller is presented in [19]. This research separates the docking control system into two subsystems: trajectory planner and trajectory-tracking system.…”
Section: Path Planning In Confined Areamentioning
confidence: 99%
“…It was called milliAmpere, named after the first electric ferry in Norway, the Ampere. This prototype continues to be used by students, PhDs, and postdocs as a research platform for testing and development of sensor fusion, powering, maneuvering [35], safety, cyber-security, and automated collision avoidance [36]. Meanwhile, work started in 2019 to design an operational version of the automated ferry, capable of carrying up to twelve passengers for public use at the same location as the Fløttmann.…”
Section: The Milliampere2 Autonomous Passenger Ferrymentioning
confidence: 99%
“…17 While the research results presented in the literature above have provided valuable insights into improving the operational performance of a single unmanned surface platform, further consideration of the collaboration of multiple unmanned surface platforms is required to assess the reliability of docking controls under real experimental conditions. 10,18,19 There has been a greater focus on the design of perfect docking control methods or latching systems that ensure a high success rate for single docking events, with less attention given to addressing situations where docking failures may occur during actual experiments. Furthermore, the difficulty in achieving formation convergence for unmanned surface platforms is also related to the form of the docking mechanism used by unmanned vessels.…”
Section: Introductionmentioning
confidence: 99%