Model Identification and Path Following for an Inland Vessel Using IENC Data

This paper presents a model and parameter estimation methods for an inland cargo catamaran. This model is used in an NMPC scheme to address the path following problem of the vessel in inland waterways. This NMPC scheme derives the control action by minimizing a cost function while meeting constraints. The path consists of waypoints that define safety contours that are derived from IENC. In Addition, circular geometries are used to define safety contours around obstacles along the fairway. The model and NMPC are validated through simulation of a section of Leuven canal.