Adaptive Pure Pursuit NMPC for Autonomous Mooring of Inland Cargo Vessels

Inland shipping is a key component of transport infrastructure, as it provides an energy-efficient and cost-effective method for moving goods. This report aims to investigate how an autonomous mooring system for inland cargo vessels can be modeled and evaluated, to improve efficiency and safety during mooring operations. This study develops a vessel model that simulates relevant mooring behaviours under varying environmental conditions and designs a control system for accurate approach and successful mooring. Simulation results are analysed, focusing on approach accuracy and position-holding.