2025/01/22 by Dietrich, Elizabeth, Gezer, Emir Cem, Zhong, Bingzhuo +4 · 2 citations
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2501.13199
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.