Optimization Strategies for Auto-Berthing of Unmanned Surface Vessels Using Differential Homeomorphism and the Gauss Pseudospectral Method
This paper designs an optimal control strategy for the auto-berthing control (ABC) problem of underactuated surface vessels. The purpose is to achieve accurate berthing of USVs in complex environments. In the traditional ABC problem of surface vessels, the underactuated characteristics of USVs compl...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2025-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/cplx/2802719 |
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