Study on ship automatic berthing system with mooring lines

Yang, Kyong-Uk; Hur, Jung Gyu; Choi, Myung-Soo; Yeo, Dong-Jun; Byun, Jung Ick

doi:10.1007/s13344-017-0003-8

Cited by 13 publications

(5 citation statements)

References 10 publications

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“…DP systems consume significant power and are only applicable on fully actuated vessels. PID control was used in 62 publications [2], [8], [9], [11], [25], [26], [37], [41], [45], [47], [48], [52], [53], [55], [56], [61], [62], [67], [69], [73]- [75], [77], [80], [81], [85]- [87], [92]- [94], [96], [97], [99]- [101], [110], [116]- [118], [126], [130], [134], [142], [143], [149], [151], [155], [156], [161], [163], [166], [180], [186], …”

Section: Pid (Proportional Integral Derivative Control)mentioning

confidence: 99%

Automated Docking for Marine Surface Vessels—A Survey

Lexau,

Breivik,

Lekkas

2023

IEEE Access

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Research on motion control systems for marine surface vessels has generated a vast academic literature and many industrial applications since the early 20th century. The recent focus on autonomous ships has sparked intensive research and innovation activities of dock-to-dock operations, including the final docking phase. Specifically, automated docking involves systems that enable vessels to dock safely, independently, and energy-efficiently at designated locations with a specific heading. Challenges include managing large sideslip angles, static and dynamic obstacles, and navigation in complex port geometries. Despite its complexity, the docking problem has received less attention compared to dynamic positioning or course-keeping systems. This paper therefore provides a thorough overview of the research on automated docking for marine surface vessels, from 1980 to June 2023. The paper introduces the Docking Characteristic Index (DCI) as a metric to identify the scope and approach of systems addressing various docking challenges, not as an evaluation of their overall quality. Using the calculated DCI-Scores, we discuss some of the works in more detail. The survey reveals a rising trend in publications and an increasing emphasis on experimental verification. Despite advancements, current methodologies exhibit trade-offs and limitations, particularly in handling dynamic obstacles, robustness against external forces, and situational awareness. The paper identifies the need for more comprehensive and integrated solutions to these challenges. As the demand for fully autonomous operations grows, the results suggest that future research should focus on developing holistic and robust docking strategies, that are verified experimentally, to achieve safe, efficient, and effective automated docking systems.

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Section: Pid (Proportional Integral Derivative Control)mentioning

confidence: 99%

Automated Docking for Marine Surface Vessels—A Survey

Lexau,

Breivik,

Lekkas

2023

IEEE Access

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“…The equation of USV in motion coordinate system： (1) Among them, m represents the quality of the USV, μ is the longitudinal velocity, v is the transverse velocity, r is the angular velocity, Y is the total transverse moment, X is the total longitudinal moment, I zz is the moment of inertia about Z axis. The right side of the above formula is the force of the hull, which is represented by the following expression:…”

Section: Establishing the Mathematical Model For The Automatic Berthing Usvmentioning

confidence: 99%

“…Yang K.U. et al (2017) [1] described an automatic berthing system with mooring lines. It was designed to be berthed by using mooring device on the upper deck of a ship.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Simulation of Automatic Berthing based on Bow and Stern Thruster Assist for Unmanned Surface Vehicle

Zhao

Wang

2021

j. of mar. sci.

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The purpose of this study is to meet the maneuverability requirements of the Unmanned Surface Vehicle (USV) in different conditions by the effective use of the bow and stern thruster, thus completing the automatic berthing task. Based on the MMG model, the maneuverability mathematical model of the USV with bow and stern thruster was established. And the motion simulation of USV maneuvering was carried out through the numerical simulation calculation. Then the berthing plan was designed basedon the maneuverability analysis of the USV low-speed motion, and the simulation of automatic berthing for USV was carried out. The research results of this paper can be of certain practical significance for the USV based on the support of the bow and stern thruster in the berthing. At the same time, it also provides a certain theoretical reference for the handling of the USV automatic berthing.

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“…YOUNGBOK et al [3] obtained anchor cable tension data through sensors, controlled the anchor machine to control the movement of the ship by controlling the cable tension. YANG et al [4] proposed an automatic berthing system with mooring lines, which adjusts the length of the mooring lines to achieve berthing, and designed a PID controller using control methods. JIN [5], SU et al [6][7] proposed an automatic positioning scheme for anchoring with the goal of achieving uniform tension distribution, and designed a performance-guaranteed control method for an anchoring automatic positioning system that considers input delay.…”

Section: Introductionmentioning

confidence: 99%

Engineering vessel anchoring positioning control based on anti-saturation guidance dynamic surface

Wu,

Wang,

Guan

2023

International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023)

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This paper proposes an anti-saturation dynamic surface control strategy based on position guidance to achieve safe and accurate positioning of engineering vessels in the context of restricted inputs in the anchor mooring system. By introducing a position guidance function to limit the rate of change of anchor cable tension and using a dynamic compensation system to compensate for input saturation, the engineering vessel can be quickly and accurately positioned. Simulation results show that the proposed anti-saturation dynamic surface controller effectively addresses the problem of input saturation in the mooring system, thereby improving system safety and effectiveness.

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Study on ship automatic berthing system with mooring lines

Cited by 13 publications

References 10 publications

Automated Docking for Marine Surface Vessels—A Survey

Automated Docking for Marine Surface Vessels—A Survey

Modeling and Simulation of Automatic Berthing based on Bow and Stern Thruster Assist for Unmanned Surface Vehicle

Engineering vessel anchoring positioning control based on anti-saturation guidance dynamic surface

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