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REFERENCE GEOMETRY

≈ 14.3 km · Smoothed harbour waypoints

PREDICTION HORIZON SPATIAL MPC

SHOOTING STAGES N / CONTROL BLOCKS M

Each cycle the first command block is executed, then the problem is solved again.

RECORDED SETTINGS FIXED

Max horizon S_H—

Target / initial RPM—

Initial cross-track error—

Initial heading error—

Current east / north—

Demonstration presets. Results are replayed, not recomputed; changing the selection loads another recording.

02 / TRAJECTORY VIEWER

Closed-loop navigation / Complex harbour route

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Awaiting reference

PANAMAX · 2D PLAN VIEW SHIP ICON NOT TO SCALE

REPLAY CONTROL CYCLES0 / 0

t = 0 s

03 / TRACKING ACCURACYCross-track error e_y

METRES

165 px

Cross-track error Zero-error reference NOW

04 / INPUT · NOW + HORIZONRudder δ · command / actual

DEGREES

260 px

Actual Command Future command Predicted actual NOW

05 / INPUT · NOW + HORIZONPropeller RPM · target / actual

RPM

260 px

Actual Command Future command Predicted actual Reference RPM NOW

NOW = plant state after the applied first block. Dashed map and actuator forecasts come from the last accepted NMPC solution and are model outputs, not measurements; fallback cycles have no forecast.