Model Predictive Control for Path Following and Collision-Avoidance of Autonomous Ships in Inland Waterways

While existing algorithms for open water navigation typically address path following and COLREGS compliant collision-avoidance, the unique challenges of inland waterways require a more tailored approach. We propose a two-level control strategy that employs Model Predictive Control (MPC) and Scenario-Based Model Predictive Control (SB-MPC) for path following and collision-avoidance. The algorithm proposes integrated strategies for handling riparian land, static obstacles, and dynamic obstacles. The method is tested in simulation

I. Introduction

There are two major objectives that need to be addressed when developing a control algorithm for autonomous vessels, namely, path following and collision-avoidance. While certain algorithms in the literature distinctly differentiate between path following and collision-avoidance, there are those that do not and instead aim to address both issues using interconnected components [1]. Furthermore, the majority of these algorithms are designed for autonomous surface vehicles that navigate in open waters.