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.

It is essential to evaluate safety of marine traffic for the improvement of efficiency and safety of marine traffic. Spread of AIS makes observation of actual marine traffic more easily and faster than before. Besides, description of collision avoidance behaviours of ships are indispensable to simulate a realistic marine traffic. It is important to develop and implement an algorithm of collision avoidance corresponding to a target traffic or target area into the marine traffic simulation because actual actions for collision avoidance depend on circumstances where ships are sailing. The authors developed an automated marine traffic simulation system with AIS data. And in this paper, we proposed a series of systematic procedures for marine traffic simulation including analysing for collision avoidance behaviours using AIS data. http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 9 Number 1

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