Adaptive modeling of maritime autonomous surface ships with uncertainty using a weighted LS-SVR robust to outliers

Zhu, Man; Sun, Wuqiang; Hahn, Axel; Wen, Yuanqiao; Xiao, Changshi; Wei, Tao

doi:10.1016/j.oceaneng.2020.107053

Cited by 41 publications

(19 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Because of these points, models are needed to be tuned manually by humans before practical use [19]. On the other hand, system-based method with SI and black-box model are favorable because they only require few trajectories and are able to avoid the scale effect when the full-scale ship's trajectory is used as input (e.g., [31,38]). Although the blackbox model can represent complex dynamics better than the system-based method, the dynamics of the black-box model are not understandable, and can not expect the model's behavior when the given control and state are an extrapolation of the training data.…”

Section: System-based Methodsmentioning

confidence: 99%

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

Miyauchi¹,

Maki²,

Umeda³

et al. 2021

Preprint

View full text Add to dashboard Cite

Accurate maneuvering estimation is essential to establish autonomous berthing control. The system-based mathematical model is widely used to estimate the ship's maneuver. Commonly, the system parameters of the mathematical model are obtained by the captive model test (CMT), which is time-consuming to construct an accurate model suitable for complex berthing maneuvers. System identification (SI) is an alternative to constructing the mathematical model. However, SI on the mathematical model of ship's maneuver has been only conducted on much simpler maneuver: turning and zig-zag. Therefore, this study investigates the SI on a mathematical model capable of berthing maneuver. The main contributions of this study are as follows: (i) construct the system-based mathematical model on berthing by optimizing system parameters with a reduced amount of model tests than the CMT-based scheme; (ii) Find the favorable choice of objective function and type of training data for optimization. Global optimization scheme CMA-ES explored the system parameters of the MMG model from the free-running model's trajectories. The berthing simulation with the parameters obtained by the proposed method showed better agreement with the free-running model test than parameters obtained by the CMT. Furthermore, the proposed method required fewer data amounts than a CMTbased scheme.

show abstract

Section: System-based Methodsmentioning

confidence: 99%

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

Miyauchi¹,

Maki²,

Umeda³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Recently, AIS technology provides a new way to explore ship behaviors, analyze water traffic characteristics, and detect ship conflicts [29][30][31][32][33][34]. Modeling ship domain based on AIS data has become a hot research point.…”

Section: Literature Reviewmentioning

confidence: 99%

A Spatiotemporal Statistical Method of Ship Domain in the Inland Waters Driven by Trajectory Data

Zhang

Peng

Huang

et al. 2021

JMSE

Self Cite

View full text Add to dashboard Cite

In this study, a method for dynamically establishing ship domain in inland waters is proposed to help make decisions about ship collision avoidance. The surrounding waters of the target ship are divided to grids and then calculating the grid densities of ships in each moment to determine the shape and size of ship domain of different types of ships. At last, based on the spatiotemporal statistical method, the characteristics of ship domains of different types of ship in different navigational environments were analyzed. The proposed method is applied to establish ship domains of different types of ship in Wuhan section of the Yangtze River in January, February, July, and August in 2014. The results show that the size of ship domain increases as the ship size increases in each month. The domain size is significantly influenced by the water level, and the ship domain size in dry seasons is larger than in the wet seasons of inland waters.

show abstract

“…Fuel saving is ensured by the effective removal of noise and minimized rudder movement based on correct information on the dynamic characteristics of the ship, as discussed above. The online EKF-DRNN autopilot is provided with a built-in EKF and optimum controller (Zhu et al, 2020).…”

Section: Ekf-drnn Autopilot Control Strategymentioning

confidence: 99%

EKF-DRNN autopilot for VLCC heading hybrid control

Chen

2021

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

An online Extended Kalman Filter (EKF)-Dynamic Recurrent Neural Network (DRNN) autopilot implementation strategy for Very Large Crude Carrier (VLCC) heading hybrid control with uncertain dynamics is designed in this paper. The autopilot scheme is based on a DRNN control model, which learns VLCC dynamic characteristics, while the VLCC heading control is estimated by the EKF to minimize squared course error. The online EKF-DRNN autopilot provides optimal control on the basis of fuel-saving evaluation criteria using the heading deviation and rudder angle. Therefore, the autopilot output is guaranteed to converge to the desired VLCC trajectory asymptotically. The proposed strategy is evaluated by applying it to VLCC Yuan Kun Yang from COSCO Shipping, and works excellently under different loads, speed and weather conditions. The VLCC heading hybrid controller is also assessed by ‘Z’ manoeuvring and turning test, and the superiority of the online EKF-DRNN autopilot is demonstrated. The remote online monitoring of Yuan Kun Yang’s main navigation data shows that it improved fuel-saving properties despite worsening weather conditions causing increased yawing.

show abstract

Adaptive modeling of maritime autonomous surface ships with uncertainty using a weighted LS-SVR robust to outliers

Cited by 41 publications

References 34 publications

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

A Spatiotemporal Statistical Method of Ship Domain in the Inland Waters Driven by Trajectory Data

EKF-DRNN autopilot for VLCC heading hybrid control

Contact Info

Product

Resources

About