Warm-started semionline trajectory planner for ship’s automatic docking (berthing)

In the usual framework of control, a reference trajectory is needed as set point for feedback controller. This can be generated by solving optimization problem. problem continuous optimal control (OCP) that transcribed into finite-dimensional nonlinear (NLP) and solved SQP. For an underactuated conventional vessel, mathematical model very intricate, hence NLP itself. causes significant computational time. article demonstrates balance between feasibility time achieved vessel in disturbed restricted environment. done by: (1) using almost-globally offline solution warm start semionline to speed up calculation, (2) including prediction wind dynamics, (3) representing ship rigid body predefined boundary generate necessary spatial constraints via point-in-polygon method ensure collision-free nonconvex region. Incorporation these three things maintains safe dynamically feasible where gives considerable speedup better results than without start.