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MSc. presentation by S. Kockums: Autonomous Docking and Trajectory Following of an Unmanned Surface Vehicle

Seminarium

From: 2022-06-17 09:00 to 09:45
Place: Seminar Room KC 3N27
Contact: bjorn [dot] olofsson [at] control [dot] lth [dot] se
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Sofia Kockums is defending her Master's thesis at the Dept. of Automatic Control.

When: June 17, 09:00-09:45
Where: Seminar Room KC 3N27
Author: Sofia Kockums
Title: Autonomous Docking and Trajectory Following of an Unmanned Surface Vehicle
Advisors: Björn Olofsson, Dept. of Automatic Control, LTH; Anders Robertsson, Dept. of Automatic Control; Birgitta Wingqvist, Saab Kockums and Dept. of Automatic Control, LTH
Examiner: Karl-Erik Årzén


Abstract:

Autonomous docking of marine vessels presents challenges different from the ones faced when travelling at open sea or in an archipelago. External disturbances due to the varying environment and accurate positioning at low speed are examples of these kinds of challenges. The aim of this work has been to develop and implement an autopilot algorithm for docking. This was to be done for a specific marine vessel, using model predictive control (MPC). The vessel in question is an unmanned surface vehicle (USV), the Saab Kockums' Piraya.

The problem formulation includes implementation of the MPC itself, as well as handling external disturbances and obstacle avoidance. Different software approaches to solving the optimization problem have been explored, as well as different solutions to the matter of trajectory following for reaching the desired position. Three main solutions for approaching the position were implemented to the MPC.

The developed program has been successfully tested in simulations, using a small model car physically representing the USV, and  experimentally tested on USV at Gränsö, Västervik.