Optimal path planning for autonomous berthing of unmanned ships in complex port environments

Zhang, Yi; Zhao, Hengchao; Wang, Jiawei; Wang, Hongbo

doi:10.1016/j.oceaneng.2024.117641

Ocean Engineering

2024

DOI: 10.1016/j.oceaneng.2024.117641

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Optimal path planning for autonomous berthing of unmanned ships in complex port environments

Yi Zhang,

Hengchao Zhao,

Jiawei Wang

et al.

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Cited by 2 publications

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Spatial state analysis of ship during berthing and unberthing process based on multi-ship data from 3D LiDAR

Wang,

2025

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Spatial state analysis of ship during berthing and unberthing process based on multi-ship data from 3D LiDAR

Wang,

2025

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Research on the Decision-Making and Control System Architecture for Autonomous Berthing of MASS

Zhang,

et al. 2024

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Autonomous berthing is a critical phase in the fully autonomous navigation process of MASS (Maritime Autonomous Surface Ship). However, the autonomous berthing stage of MASS is significantly influenced by environmental factors and involves a wide range of technical fields, making the technology not yet fully mature. Therefore, this paper addresses three key technological challenges related to ship path planning, guidance and motion control, as well as position and state perception. Additionally, it explores the decision-making and control system architecture for autonomous berthing of MASS. An effective autonomous berthing solution for MASS is proposed. Based on vessel berthing maneuvering, a decision-making algorithm for autonomous berthing is designed. The A-star algorithm is optimized, and an expected path for unmanned boat experiments is designed offline using this algorithm. Subsequently, an indirect ship guidance and motion control program is proposed based on a CFDL-MFAC (Compact Form Dynamic Linearization based Model-Free Adaptive Control) algorithm. Experimental results show that the proposed autonomous berthing decision-making and control system architecture can effectively assist the unmanned boat in achieving autonomous berthing and help it to berth in a stable and desirable state.

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Optimal path planning for autonomous berthing of unmanned ships in complex port environments

Cited by 2 publications

References 30 publications

Spatial state analysis of ship during berthing and unberthing process based on multi-ship data from 3D LiDAR

Spatial state analysis of ship during berthing and unberthing process based on multi-ship data from 3D LiDAR

Research on the Decision-Making and Control System Architecture for Autonomous Berthing of MASS

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