Path following algorithm application to automatic berthing control

This paper aims to verify a new automatic berthing system using a path following algorithm. Berthing operation is one of the most burdensome tasks for crews among several ship operations. The maneuverability of a ship at low speed during berthing operation deteriorates and becomes more vulnerable to...

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Vydáno v:Journal of marine science and technology Ročník 26; číslo 2; s. 541 - 554
Hlavní autoři: Sawada, Ryohei, Hirata, Koichi, Kitagawa, Yasushi, Saito, Eiko, Ueno, Michio, Tanizawa, Katsuji, Fukuto, Junji
Médium: Journal Article
Jazyk:angličtina
Vydáno: Tokyo Springer Japan 01.06.2021
Springer
Springer Nature B.V
Témata:
Accuracy
Algorithms
Automatic control
Automotive Engineering
Berthing
Control
Control systems
Controllers
Engineering
Engineering Design
Engineering Fluid Dynamics
Experiments
Field study
Low speed
Maneuverability
Manoeuvrability
Mathematical models
Mechanical Engineering
Neural networks
Nonlinear systems
Nonlinearity
Numerical analysis
Offshore Engineering
Optimal control
Original Article
Portable computers
Real time
Robotics
Rudders
Sensors
Ship handling
Shipping industry
System identification
Trajectory planning
Wind
Automatic berthing control
Full-scale experiments
Heading control system
Path following
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ISSN:0948-4280, 1437-8213
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Popis
Shrnutí:This paper aims to verify a new automatic berthing system using a path following algorithm. Berthing operation is one of the most burdensome tasks for crews among several ship operations. The maneuverability of a ship at low speed during berthing operation deteriorates and becomes more vulnerable to disturbances such as wind. Therefore, it is necessary to support and automate operations that require advanced skills such as berthing operation. Previous studies on automatic berthing have investigated various methods to handle the nonlinearity of ship maneuvering motion and determine the optimal control variable. There is a trade-off between accuracy and real-time performance of berthing control from these studies. The algorithms must have sufficiently real-time performance while maintaining the accuracy of control. For these purposes, we propose the automatic berthing system applied a path following algorithm for a ship with one propeller and one rudder in this paper. We show the mathematical model for numerical simulation of berthing control and carried out system identification of the subject ship. In full-scale experiments, the proposed system performed automatic berthing control in both calm wind conditions around 2 m/s and strong wind conditions around 6 m/s.
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content type line 14
ISSN:0948-4280
1437-8213
DOI:10.1007/s00773-020-00758-x