{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T04:15:40Z","timestamp":1680322540425},"reference-count":21,"publisher":"Walter de Gruyter GmbH","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,25]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Autonomous ferry operation in harbor and coastal areas is especially challenging due to the tendency to impose a high traffic density, prohibited areas, and a wide variety of different traffic participants to the automation task. To this end, we propose a concept for automated guidance and control of harbor ferry fleet operation. Subsequently, we differentiate guidance into a central, on-land scheduling unit and an on-ship trajectory planning unit that generates a set of waypoints and corresponding desired speeds by means of a flatness-based optimal control problem. Moreover, static obstacles are taken into account by means of a dual approach and the trajectory planning is linked to the control module realized as a path following model predictive control autopilot, which also handles dynamic obstacles.<\/jats:p>","DOI":"10.1515\/auto-2021-0160","type":"journal-article","created":{"date-parts":[[2022,5,12]],"date-time":"2022-05-12T07:18:48Z","timestamp":1652339928000},"page":"444-455","source":"Crossref","is-referenced-by-count":0,"title":["A combined guidance and control concept for autonomous ferries"],"prefix":"10.1515","volume":"70","author":[{"given":"Simon","family":"Helling","sequence":"first","affiliation":[{"name":"Automation and Control Group, Faculty of Engineering , Kiel University , Kiel , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Max","family":"Lutz","sequence":"additional","affiliation":[{"name":"Automation and Control Group, Faculty of Engineering , Kiel University , Kiel , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thomas","family":"Meurer","sequence":"additional","affiliation":[{"name":"Automation and Control Group, Faculty of Engineering , Kiel University , Kiel , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2022,5,12]]},"reference":[{"key":"2023033111412073898_j_auto-2021-0160_ref_001","doi-asserted-by":"crossref","unstructured":"Agrawal, S.\u2009K. and H. 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