Boat docking

Explore how a control sequence improves, then follow the boat along that plan. Outlines ahead show its predicted position and heading every two seconds.

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Approach Method

Optimizer iteration

Simulation time0.0 s

Playback 2×

Solid gray: traveled · Dashed: future · Outlines: future poses

Arrival position error

Arrival heading error

Arrival speed

Trajectory cost

Cost vs accepted iteration (log scale)

Speed over the selected plan (m/s)

Thrust (N) · left solid, right dashed

Each optimizer iteration is a complete 20-second plan. Advancing simulation time follows that fixed plan; it does not replan. These are deterministic simulations of a simplified boat. Arrival checks use the rectangular hull, which contains the pointed icon.