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Path following algorithm application to automatic berthing control

Sawada, Ryohei ; Hirata, Koichi ; Kitagawa, Yasushi ; Saito, Eiko ; Ueno, Michio ; Tanizawa, Katsuji ; Fukuto, Junji

Journal of marine science and technology, 2021-06, Vol.26 (2), p.541-554 [Periódico revisado por pares]

Tokyo: Springer Japan

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Título:
Path following algorithm application to automatic berthing control
Autor: Sawada, Ryohei ; Hirata, Koichi ; Kitagawa, Yasushi ; Saito, Eiko ; Ueno, Michio ; Tanizawa, Katsuji ; Fukuto, Junji
Assuntos: Accuracy ; Algorithms ; Automatic control ; Automotive Engineering ; Berthing ; Control ; Control systems ; Engineering ; Engineering Design ; Engineering Fluid Dynamics ; Low speed ; Maneuverability ; Manoeuvrability ; Mathematical models ; Mechanical Engineering ; Nonlinear systems ; Nonlinearity ; Numerical analysis ; Offshore Engineering ; Optimal control ; Original Article ; Real time ; Rudders ; Ship handling ; Ships ; System identification ; Trajectory planning ; Wind
É parte de: Journal of marine science and technology, 2021-06, Vol.26 (2), p.541-554
Descrição: 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.
Editor: Tokyo: Springer Japan
Idioma: Inglês

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Path following algorithm application to automatic berthing control

Sawada, Ryohei ; Hirata, Koichi ; Kitagawa, Yasushi ; Saito, Eiko ; Ueno, Michio ; Tanizawa, Katsuji ; Fukuto, Junji

Tokyo: Springer Japan

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