Research on USV autonomous berthing based on CMA-ES
This paper proposes a hybrid method based on LQR and CMA-ES for autonomous berthing control system,which systematically solve the problems involved during the berthing process,such as path planning,optimal control,dy-namic environmental interference,physical execution structure constraints,and etc.The autonomous berthing control system based on basic LQR and improved LQR-CMA-ES is achieved and the simulation work shows that the given method can achieve autonomous berthing of ships well and the system has good robustness against the environmental interference.
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