公开(公告)号：US20240310845A1

公开(公告)日：2024-09-19

申请号：US18600994

申请日：2024-03-11

Applicant: ABB Schweiz AG

Inventor： Jonas Linder ,  Moksadur Rahman

IPC: G05D1/229 ,  G01C21/20 ,  G05D1/43 ,  G05D1/622 ,  G05D109/30

CPC classification number: G05D1/229 ,  G01C21/20 ,  G05D1/43 ,  G05D1/622 ,  G05D2109/34

Abstract: A computer-implemented method for determining a feasible trajectory for a marine vessel traveling on water, including: determining initial state variables for the marine vessel at the initial position including present position of the marine vessel and a present heading direction of the marine vessel in relation to the surrounding environment; acquiring position data indicating positions of obstacles near the marine vessel; acquiring environmental data including at least one of present wind conditions, wave characteristics, and local sea current speed and direction; estimating environmental disturbance parameters and respective uncertainties from the environmental data; predicting subsequent state variables for the marine vessel and respective uncertainties at future time steps for a prediction horizon based on a maneuver model of a marine vessel describing a motion of a marine vessel, the initial state variables, the position data, and the environmental disturbance parameters and respective uncertainties; generating feasible trajectory data including a trajectory uncertainty for the marine vessel.