Considering the nonlinearity of the ship kinematic and dynamics model, the accuracy required for automatic berthing, and the speed control during berthing, this paper proposes an automatic berthing method with state constraint control algorithm and speed allocation. The speed allocation method is used to solve the speed control problem in the berthing process, and the external condition constraints and the berthing accuracy of the nonlinear model of the ship can be solved by combining the state constraint control algorithm. The simulation results based on a supply ship model verify the effectiveness of the proposed method.
Ship Automatic Berthing Control with State Constraints Using Speed Assignment
2025-05-16
1213088 byte
Conference paper
Electronic Resource
English
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