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Parallel Docking Problem for Unmanned Surface Vehicles

Yilmaz, Ismail Cagdas
Ahiska, Kenan
Leblebicioğlu, Mehmet Kemal
In this paper, parallel docking (parallel parking) problem for unmanned surface vehicles (USVs) is investigated. A mathematical model for an USV is constructed and a hierarchical control approach is implemented on this 6 degree-of-freedom model. At the control allocation level of the hierarchy, parameters of finite horizon model predictive controller (MPC) and cascaded PID controller are tuned to optimize path following performance of the vehicle. Two kinds of guidance law, line of sight (LOS), and pure pursuit (PP) are employed for waypoint traveling at the strategic level of the hierarchy. Guidance and control laws are implemented for parallel docking, which is treated as a waypoint generation problem. The path following performance and energy consumption of the USVs under the parallel docking manoeuvre are evaluated for different combinations of guidance laws and controller designs.