IEEE Robotics & Automation Letters
paper link: https://ieeexplore.ieee.org/document/10301632
We propose a computationally-efficient Convex geometric error-state MPC for marine vehicles. The proposed algorithm is compared with Nonlinear MPC.
1) OSQP : QP solver
Folder : osqp
Installation is required to run the code.
2) CasADi : NMPC solver
Folder : casadi-linux-matlabR2014b-v3.5.5
3) MPC-tools for CasADi
Folder : octave-mpctools
Tool for easy implementation of NMPC with CasADi by autonomously transforming the given dynamics model into the proper format.
4) USV Otter model from MSS
Folder : GNC, HYDRO
Control input of the otter model is changed from motor speed to thrust force.
Run main.m in MATLAB
- Reference trajectory, ocean currents, prediction horizon, simulation parameters are defined in
main.m - MPC cost weights (P, Q, R) are defined in
sim.m - For calculating dynamics of USV Otter, NMPC uses
otter.mand NMPC-simple usesotter-simple.m. They regard ocean current as 0 m/s. True simulation is processed usingotter_true.mwith ocean currents.
| Ocean Current | Proposed MPC | NMPC | NMPC-simple |
|---|---|---|---|
| 0 m/s | 49 | 764 | 478 |
| 0.5 m/s | 50 | 953 | 460 |