Autonomous Docking: Trajectory planning and dynamic route adaptation for autonomously docking a marine vessel using Model Predictive Control
Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Program
Systems, control and mechatronics (MPSYS), MSc
Publicerad
2024
Författare
Laitala, Erik
Strömdahl, Evelina
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
This thesis presents a comprehensive study on the application of Model Predictive
Control (MPC) for the autonomous docking of marine vessels. The research focuses
on developing and implementing trajectory planning and dynamic route adaptation
algorithms that enable a vessel to autonomously dock in various maritime environments. The research on autonomous docking is important for its potential to enhance
safety, efficiency, and reliability in maritime operations, particularly in crowded or
challenging docking scenarios. This technology aims to minimize human error and
simplify the docking procedure in busy marine environments. The key challenges
addressed include path planning, collision avoidance, trajectory tracking, and the
integration of real-time dynamic adjustments to account for moving obstacles and
environmental changes. Our methodology utilizes MPC to continuously predict and
optimize the vessel’s path, thereby ensuring safe and efficient docking maneuvers. A
simulation environment created in Python and real-world simulations created in a
Unity-based environment were utilized to validate the effectiveness of the proposed
algorithm. Simulation results demonstrated a functional trajectory planner capable
of successfully following a reference path, avoiding obstacles, and docking a marine
vessel in narrow spaces, indicating the potential for using MPC to autonomously
dock a boat. Initial tests in a real-world environment were performed to further
confirm the potential of the proposed solution. Comparative performance analysis
highlights the strengths and limitations of the system during different conditions,
demonstrating its potential for real-world application. Future works aim to enhance
the complexity of the maritime scenarios and vessel dynamics handled by the algorithms, as well as additional testing in real-world environments to further validate
and refine the system. The presented analysis also demonstrates the potential for
additional features to improve the stability and reliability of the MPC-based system.
This includes the integration of various sensor data for extensive environmental mapping providing real-time updates about the surroundings to ensure a safer docking
procedure.
Beskrivning
Ämne/nyckelord
Model Predictive Control , Receding Horizon Control , Path Planning , Trajectory Planning , Collision Avoidance , Autonomous docking , Maritime Navigation , Dynamic Route Adaptation