Application of optimal control theory based on the evolution strategy (CMA-ES) to automatic berthing - Maki, Atsuo; Sakamoto, Naoki; Akimoto, Youhei; Nishikawa, Hiroyuki; Umeda, Naoya (Journal of marine science and technology, 2020)
Keywords: Automatic control; Automotive Engineering; Berthing; Computation; Control; Control methods; Control theory; Covariance matrix; Engineering; Engineering Design; Engineering Fluid Dynamics; Evolution; Evolutionary computation; Hazards; Low speed; Mechanical Engineering; Nonlinear systems; Nonlinearity; Offshore Engineering; Optimal control; Optimization; Original Article; Real variables; Rudders; Ships; Autonomous vessel; Optimal control theory; Evolution strategy; CMA-ES; Automatic berthing