To fully understand the key problems that the design of under-actuated ship automatic berthing controller under the restricted water area, the uncertain mathematical model and the relatively strong environmental disturbances, considering the requirements of the navigation practice and conduct systematic theoretical exploration and research. Research and engineering practice on ship automatic berthing control in the domestic and abroad are introduced, three control tasks and five research difficulties are summarized in this paper. Combining the ship automatic berthing research with the “shipbuilding industry 4.0 and e-Navigation” project of IMO, the development of ship automatic berthing trends to be unified model, intelligent control, whole process of berthing, accurate measurement and engineering realization.
Review on the Research of Ship Automatic Berthing Control
Offshore Robotics
Offshore Robotics ; Chapter : 4 ; 87-109
2021-10-19
23 pages
Article/Chapter (Book)
Electronic Resource
English