Automatic berthing for an underactuated unmanned surface vehicle: A real-time motion planning approach

Han, Sen; Wang, Yiting; Wang, Lei; He, Huacheng

doi:10.1016/j.oceaneng.2021.109352

Cited by 46 publications

(14 citation statements)

References 28 publications

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“…At this time, the motion model of USV is more complex and reflects highorder nonlinearity, so it is difficult to accurately predict the ship motion; (2) When the USV moves in shallow water at medium and low speed, the influence of external factors such as wind, wave and current increases, and the uncertainty of boat motion increases; (3) The configuration and attitude of the ship's position converging to the desired path are realized under underdrive. In references [107][108][109] , aiming at the nonlinear feedback problem in the process of leaving and berthing, the ship leaving and berthing route is controlled by means of regression neural network and extended dynamic window.…”

Section: Platform Controlmentioning

confidence: 99%

Development status and trend of autonomous operation for unmanned surface vehicle

Cai

2022

International Conference on Computer Application and Information Security (ICCAIS 2021)

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Autonomous operation for unmanned surface vehicle (USV) is the core competence for USV, and an important mean for unmanned and intelligent operation. USVs can be used for multi-mission, so autonomous operation for USV faces a lot of challenges, such as complex and changeable marine environmental factors, limited means of awareness in sea, low degree of automated operational decisions, difficult integration control of sailing and combat equipment. This study summarizes the development status of autonomous operation for USVs from awareness, decision and control. It addresses the difficult issues and current main technologies of autonomous operation for USVs, and points out the deficiencies of the technologies. Finally, based on the analyses of development status, it addresses the development trend of autonomous operation for USV.

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Section: Platform Controlmentioning

confidence: 99%

Development status and trend of autonomous operation for unmanned surface vehicle

Cai

2022

International Conference on Computer Application and Information Security (ICCAIS 2021)

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“…They simultaneously considered the path length, collision avoidance, separation distance from surrounding structures, own ship's maneuverability, and currents. Han et al (2021) presented a real-time motion planning method for automatic berthing using Extended Dynamic Window Approach. In Japan, since the late 1980s, several research studies on autonomous berthing/unberthing have been conducted (Kose et al, 1986;Koyama et al, 1987).…”

Section: Introductionmentioning

confidence: 99%

Ship trajectory planning method for reproducing human operation at ports

Suyama,

Miyauchi,

Maki

2023

Preprint

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Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on ship operators and preventing accidents, several researches have been conducted on trajectory planning to automate berthing/unberthing. However, few studies have aimed at assisting captains in berthing/unberthing. The trajectory to be presented to the captain should be a maneuver that reproduces human captain's control characteristics. The previously proposed methods cannot explicitly reflect the motion and navigation, which human captains pay particular attention to reduce the mental burden in the trajectory planning. Herein, mild constraints to the trajectory planning method are introduced. The constraints impose certain states (position, bow heading angle, ship speed, and yaw angular velocity), to be taken approximately at any given time. The introduction of this new constraint allows imposing careful trajectory planning (e.g., insitu turns at zero speed or a pause for safety before going astern), as if performed by a human during berthing/unberthing. The algorithm proposed herein was used to optimize the berthing/unberthing trajectories for a large car ferry. The results show that this method can generate the quantitatively equivalent trajectory recorded in the actual berthing/unberthing maneuver performed by a human captain.

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“…The use of unmanned vehicles for an extensive study on water quality monitoring can be found in [4]. Unmanned autonomous vehicles need intelligent planning algorithms [5], collision detection [6], and guidance algorithms [7], [8], in order to successfully perform their missions.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

et al. 2022

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Automatic berthing for an underactuated unmanned surface vehicle: A real-time motion planning approach

Cited by 46 publications

References 28 publications

Development status and trend of autonomous operation for unmanned surface vehicle

Development status and trend of autonomous operation for unmanned surface vehicle

Ship trajectory planning method for reproducing human operation at ports

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

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