Symbolic Control for Autonomous Docking of Marine Surface Vessels
Fuente:
arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866916930441445376 |
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| author | Dietrich, Elizabeth Gezer, Emir Cem Zhong, Bingzhuo Arcak, Murat Zamani, Majid Skjetne, Roger Sørensen, Asgeir Johan |
| author_facet | Dietrich, Elizabeth Gezer, Emir Cem Zhong, Bingzhuo Arcak, Murat Zamani, Majid Skjetne, Roger Sørensen, Asgeir Johan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_13199 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Symbolic Control for Autonomous Docking of Marine Surface Vessels Dietrich, Elizabeth Gezer, Emir Cem Zhong, Bingzhuo Arcak, Murat Zamani, Majid Skjetne, Roger Sørensen, Asgeir Johan Systems and Control 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. |
| title | Symbolic Control for Autonomous Docking of Marine Surface Vessels |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2501.13199 |