两艘无人船协同对接，通过预测控制抗水流干扰，更快更稳完成任务。
Model Predictive Control for Cooperative Docking Between Autonomous Surface Vehicles with Disturbance Rejection
- 采用集中式模型预测控制，协同规划两船对接轨迹。
- 仿真中对接速度比现有方法快，且能有效抵抗水流等干扰。
- 适合多船协作的海上任务，尤其在复杂水流环境下表现优异。
无人水面艇（USVs）是广泛应用于各类水上任务的高效自主船舶。当多艘USV在同一区域作业时，可能需要相互对接以完成共同任务。现有对接方法通常将一艘船视为静止目标，由另一艘主动靠近。本文提出一种两艘USV协同对接的新方法，双方共同在预定位置完成对接。采用集中式模型预测控制（MPC）求解控制问题，生成满足约束的可行轨迹。由于其基于模型的特性，该方法可通过预测模型提前感知并抵消外部扰动的影响，尤其适用于近似静止的扰动（如水流）。仿真结果表明，与现有方法相比，所提方法能实现更快、更高效的对接。
原文摘要 · Abstract (English)
Uncrewed Surface Vehicles (USVs) are a popular and efficient type of marine craft that find application in a large number of water-based tasks. When multiple USVs operate in the same area, they may be required to dock to each other to perform a shared task. Existing approaches for the docking between autonomous USVs generally consider one USV as a stationary target, while the second one is tasked to reach the required docking pose. In this work, we propose a cooperative approach for USV-USV docking, where two USVs work together to dock at an agreed location. We use a centralized Model Predictive Control (MPC) approach to solve the control problem, obtaining feasible trajectories that also guarantee constraint satisfaction. Owing to its model-based nature, this approach allows the rejection of disturbances, inclusive of exogenous inputs, by anticipating their effect on the USVs through the MPC prediction model. This is particularly effective in case of almost-stationary disturbances such as water currents. In simulations, we demonstrate how the proposed approach allows for a faster and more efficient docking with respect to existing approaches.
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