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Energy efficiency and safety are two critical objectives for marine vehiclesoperating in environments with obstacles, and they generally conflict with eachother. In this paper, we propose a novel online motion planning method ofmarine vehicles which can make trade-offs between the two design objectivesbased on the framework of economic model predictive control (EMPC). Firstly,the feasible trajectory with the most safety margin is designed and utilized astracking reference. Secondly, the EMPC-based receding horizon motion planningalgorithm is designed, in which the practical consumed energy and safetymeasure (i.e., the distance between the planning trajectory and the reference)are considered. Experimental results verify the effectiveness and feasibilityof the proposed method.

Economic MPC-based planning for marine vehicles: Tuning safety and energy efficiency