Improved Model Predictive Control Algorithm for the Path Tracking Control of Ship Autonomous Berthing
To address the issues of path tracking accuracy and control stability in autonomous ship berthing, an improved algorithm combining nonlinear model predictive control (NMPC) and convolutional neural networks (CNNs) is proposed in this paper. A CNN is employed to train on a large dataset of ship berth...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-06-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/13/7/1273 |
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