Autonomous docking using direct optimal control

TL;DR

This paper introduces a comprehensive real-time optimal control method for autonomous marine vessel docking, integrating dynamic positioning, collision avoidance, and control allocation, demonstrated through simulation.

Contribution

It presents a novel all-in-one optimal control framework for autonomous vessel docking and maneuvering, capable of real-time implementation as an MPC-based algorithm.

Findings

Successful simulation of the method on a supply vessel

Demonstrated collision avoidance and dynamic positioning capabilities

Real-time implementation feasibility shown

Abstract

We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The proposed method is an all-encompassing procedure for performing both docking, maneuvering, dynamic positioning and control allocation. In addition, we show that the method can be implemented as a real-time MPC-based algorithm on simulation results of a supply vessel.