Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control

Conference paper (2021)

Authors

M.J. van Pampus Amsterdam Institute for Advanced Metropolitan Solutions (AMS), Student
A. Haseltalab Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
V. Garofano Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
V. Reppa Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Y.H. Deinema Amsterdam Institute for Advanced Metropolitan Solutions (AMS)
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 M.J. van Pampus, A. Haseltalab, V. Garofano, V. Reppa, Y.H. Deinema, R.R. Negenborn
DOI: https://doi.org/10.23919/ECC54610.2021.9654989
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

Formation control of autonomous surface vessels (ASVs) has been studied extensively over the last few years since it offers promising advantages. In this paper, two control methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (MPC) method and an MPC method using Feedback Linearization. One agent per vessel performs planning and control. The agents exchange information on their current and predicted positions. The two proposed methods are compared with each other and also with a conventional Proportional-Integral (PI) control method. The performance of the proposed strategies is evaluated through simulations and field experiments using small scale vessels. The simulation and field experiment results show that the proposed MPC-based approaches outperform the conventional PI control method.

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