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Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle. <i>Ocean Eng. 266(Part 3)</i>: 112900. <a href=\"https://dx.doi.org/10.1016/j.oceaneng.2022.112900\" target=\"_blank\">https://dx.doi.org/10.1016/j.oceaneng.2022.112900</a>","BEntID":359232,"PublicFlag":1,"CheckedFlag":1,"wosflag":1,"vabbflag":0,"RefStringPartII":". <i>Ocean Eng. 266(Part 3)</i>: 112900. <a href=\"https://dx.doi.org/10.1016/j.oceaneng.2022.112900\" target=\"_blank\">https://dx.doi.org/10.1016/j.oceaneng.2022.112900</a>","DocTypID":8,"DocType":"Journal article","MarineFlag":1,"FreshFlag":0,"BrackishFlag":0,"TerrestrialFlag":0,"Authorstring":"Gonzalez-Garcia, A.; Collado-Gonzalez, I.; Cuan-Urquizo, R.; Sotelo, C.; Sotelo, D.; Castañeda, H.","OrigTitleTranslFlag":0,"Authorstringtrunc":"Gonzalez-Garcia, A. <i>et al.</i>","Englishabstract":"This paper presents a path-following and collision avoidance system for autonomous surface vehicles based on nonlinear model predictive control. The proposed strategy is capable of following a desired path while maintaining a commanded velocity, whereas it can diverge from the references to safely perform maneuvers to elude unexpected obstacles. A nonlinear dynamic model of the vehicle is applied to predict the vehicle states into a finite horizon. Furthermore, a LiDAR sensor located at the front of the boat is employed for local object detection. Here, the high-performance optimal control framework, acados, is used to solve the optimization problem onboard. Real-time numerical simulations and field experiments demonstrate the effectiveness of the proposed approach against multiple buoys.","AbstractOtherLang":null,"BibLvlCode":"AS","StandardTitle":"Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle","OrigTitleLangCode":"en","OrigTitleLangCodeExtended":"eng","OrigTitleLangID":15,"DateLastModified":{"date":"2026-04-22 01:32:29.872833","timezone_type":1,"timezone":"+02:00"},"UserAccessRight":null,"UserAccID":null,"AuthorKeywords":"Autonomous surface vehicle; Nonlinear model predictive control; Obstacle avoidance","OtherDescriptors":null,"Notes":null,"AnaPub":2022,"MonPub":null,"DateUpdate":"2023-02-28","DateCreate":"2023-02-27","SecASFANote":null,"ConfID":null,"PeerRev":1,"VlizCoreFlag":1,"WoScode":"WOS:000884491300002","VABBcode":null,"OpenAcc":0,"DOI":"10.1016/j.oceaneng.2022.112900"},"refs":null,"anarec":{"AnaID":361516,"PubliDate":2022,"Pagination":"112900","XtraPublOfAnaID":null,"ISBN":null,"Volume":"266","Issue":"Part 3","BRefMon":null,"BRefMonRR":null,"BRefXtra":null,"BRefXtraRR":null,"SerBRefID":43588,"SerRR":"Ocean Engineering. 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