MPC-based motion planning and control enables smarter and safer autonomous marine vehicles: Perspectives and a tutorial survey
Autonomous marine vehicles (AMVs) have received considerable attention in the past few
decades, mainly because they play essential roles in broad marine applications such as …
decades, mainly because they play essential roles in broad marine applications such as …
Advanced model predictive control framework for autonomous intelligent mechatronic systems: A tutorial overview and perspectives
This paper presents a review on the development and application of model predictive
control (MPC) for autonomous intelligent mechatronic systems (AIMS). Starting from the …
control (MPC) for autonomous intelligent mechatronic systems (AIMS). Starting from the …
Integral LOS path following for curved paths based on a monotone cubic Hermite spline parametrization
This paper addresses two interrelated problems concerning the planar three degree-of-
freedom motion of a vehicle, namely, the path planning problem and the guidance problem …
freedom motion of a vehicle, namely, the path planning problem and the guidance problem …
An adaptive line-of-sight (ALOS) guidance law for path following of aircraft and marine craft
TI Fossen - IEEE Transactions on Control Systems Technology, 2023 - ieeexplore.ieee.org
This brief presents a novel nonlinear adaptive line-of-sight (ALOS) guidance law for path
following, compensating for drift forces due to wind, waves, and ocean currents. The ALOS …
following, compensating for drift forces due to wind, waves, and ocean currents. The ALOS …
On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws
TI Fossen, KY Pettersen - Automatica, 2014 - Elsevier
This paper presents a uniform semiglobal exponential stability (USGES) proof for a class of
proportional line-of-sight (LOS) guidance laws used for vehicle path-following control. The …
proportional line-of-sight (LOS) guidance laws used for vehicle path-following control. The …
Path-following control of an AUV: A multiobjective model predictive control approach
The path-following (PF) problem of an autonomous underwater vehicle (AUV) is studied, in
which the path convergence is viewed as the main task while the speed profile is also taken …
which the path convergence is viewed as the main task while the speed profile is also taken …
State-of-the-art research on motion control of maritime autonomous surface ships
L Wang, Q Wu, J Liu, S Li, RR Negenborn - Journal of Marine Science …, 2019 - mdpi.com
At present, with the development of waterborne transport vehicles, research on ship faces a
new round of challenges in terms of intelligence and autonomy. The concept of maritime …
new round of challenges in terms of intelligence and autonomy. The concept of maritime …
Trajectory tracking of autonomous vessels using model predictive control
Autonomous surface vehicles are with increasing popularity being seen in various
applications where automatic control plays an important role. In this paper the problem of …
applications where automatic control plays an important role. In this paper the problem of …
A time-varying lookahead distance guidance law for path following
This paper presents a modified version of a well known line-of-sight (LOS) guidance
algorithm for path-following. The proposed method employs a time-varying equation for the …
algorithm for path-following. The proposed method employs a time-varying equation for the …
Robust trajectory tracking for fully-input-bounded actuated unmanned surface vessel with stochastic disturbances: An approach by the homogeneous nonlinear …
Nowadays, academia, industry, and the government have increased their interests and
found the necessities of develo** unmanned surface vessels (USV) for maritime ship** …
found the necessities of develo** unmanned surface vessels (USV) for maritime ship** …