Automatic ship route design between two ports: A data-driven method

Wen, Yuanqiao; Sui, Zhongyi; Zhou, Chunhui; Xiao, Changshi; Chen, Qianqian; Han, Dong; Zhang, Yimeng

doi:10.1016/j.apor.2019.102049

Cited by 51 publications

(26 citation statements)

References 19 publications

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“…The drift path is defined by (12) and it determines length of the path traveled by the ship in the transversal axis due to centrifugal force. The coefficient on arc (W 2 ) depends on ship's length, displacement, angular and drift path lengths.…”

Section: Methods Of Rational Bézier Curve Coefficient Determinationmentioning

confidence: 99%

“…ship motion pattern based on the Latent Dirichlet Allocation model [8], which is based on trajectory datasets represented as limited series of motion words and needs big amount of data to give reliable model; -probabilistic model of the ship handling behavior patterns in the Automatic Identification System (AIS) data using the sub-trajectory clustering algorithm [9], where the AIS data is processed to get ship handling behavior basics; -spline model for trajectory estimation based on the AIS data [10], where AIS data needs to be filtered and then may be used to map ship's maneuverability; -deterministic model based on the concept of a predefined trajectories database containing safe and optimal paths of a ship [11]; -model determined by density-based spatial clustering of applications with the noise (DBSCAN) algorithm combined with the Artificial Neural Network learning relationship of turning regions and generating a feasible route based on massive AIS data [12], -using Bézier curves [13], which seems to be the least computationally complex and parameterizable.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Maritime Autonomous Surface Ship’s Path Approximation Using Bézier Curves

Miller

Walczak

2020

Symmetry

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This work is devoted to the second order rational Bézier curve coefficients estimation. We present the methodology of unique coefficients for each type of ship computation. In the presented formulas of ship’s length, a draft and angular path combined with a drift path are used. This approach leads to the simplest and most accurate Maritime Autonomous Surface Ships (MASS) path modeling. Three rational curve control points are waypoints (WPT). Using WPTs as curve control points allows integrating a trajectory intuitive for the navigator with a path predicting model used as a reference in the control system. Research was done based on real-time data originating from the MASS autonomous trajectory tracking system. The presented mathematical modeling tool may be treated as the best way of future trajectory prediction due to low computation power required.

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Section: Methods Of Rational Bézier Curve Coefficient Determinationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Maritime Autonomous Surface Ship’s Path Approximation Using Bézier Curves

Miller

Walczak

2020

Symmetry

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“…The propeller force and moments can be obtained by (8) and (9). w u nD , with p w representing the wake factor.…”

Section: ) Propeller Forces and Momentsmentioning

confidence: 99%

“…A route with optimum energy efficiency was then presented [8]. Wen et al [9] integrated DBSCAN and an artificial neural network capable of automatic ship route design based on massive AIS data between certain ports and obtained a planning route based on data analysis. Furthermore, a novel method was proposed a method [10] to construct a big datadriven framework for automatically generating ship planning routes under varying navigation conditions.…”

Section: Introductionmentioning

confidence: 99%

Route Planning and Tracking for Ships Based on the ECDIS Platform

et al. 2021

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Automatic route planning and tracking control are important for unmanned surface vehicles (USVs). This study presents a final-optimized A* (FO A*) algorithm for automatic route planning of USVs and designs a nonlinear tracking controller to ensure that the ship navigates on the route. Ship domain theory is employed in the FO A* algorithm to ensure that the planning route is far from shorelines and reefs. Meanwhile, water depth is used to determine the safety area in the search process. The nonlinear feedback algorithm is also applied to reduce the rudder angle when the ship tracks the planning route in wind and waves. Finally, the proposed algorithms are well validated on the ship-based Electronic Chart Display and Information System (ECDIS). The experiment shows that the FO A* algorithm and the nonlinear tracking controller are effective and deterministic for route planning offline. It can be put into navigation practice, which will make some contribution in accelerating the USV development.INDEX TERMS A* algorithm, ECDIS, nonlinear feedback, route planning, tracking control.

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“…With the rapid development of automation technology [1][2][3][4][5][6][7][8], ship automation [9,10] has begun to receive attention widely. As one of the vital research objects of ship automation technology, efficient ship motion control [11,12] can significantly improve the safety of the ship and increase the economic benefits during the navigation. In light of this, it is necessary to accelerate research on ship motion control.…”

mentioning

confidence: 99%

DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking

Ning

Chen

et al. 2021

IEEE Access

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In order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then the complex track control is transformed into a heading control problem. The fast terminal sliding mode (FTSM) is introduced together with the Backstepping control technique to reduce the system adjustment time, eliminate the chattering. Bying combined with extended states observer (ESO) and dynamic surface control (DSC) technique, the internal and external disturbances in real-time can be estimated and compensated, and the "explosion of complexity" caused by backstepping technique is solved. The state of the control system is bounded and stable, and the system error converges to zero. Matlab simulation proves that the controller can realize the trajectory-tracking control quickly and accurately, and has strong robustness to external disturbances. INDEX TERMSFast terminal sliding mode; Extended states observer; Ship trajectory-tracking control; Robustness I.INTRODUCTION

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Automatic ship route design between two ports: A data-driven method

Cited by 51 publications

References 19 publications

Maritime Autonomous Surface Ship’s Path Approximation Using Bézier Curves

Maritime Autonomous Surface Ship’s Path Approximation Using Bézier Curves

Route Planning and Tracking for Ships Based on the ECDIS Platform

DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking

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