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An Automatic Berthing Study by Optimal Control Techniques
IFAC Proceedings Volumes, 1992Abstract In this paper, the optimal control problem for ship's automatic berthing is discussed. Some optimal solutions are obtained by solving nonlinear two-points boundary value problems. The equations of motions in berthing maneuvering arc represented by sophisticated nonlinear mathematical model.
Kouichi Shouji +2 more
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Local navigation system for automatic ship berthing
Infocommunications and Radio Technologies, 2018This paper shows that it is necessary to solve the problem of accurate ship positioning to provide automatic ship berthing. It is impossible to solve this problem using global positioning systems since they do not provide the proper precision. The principles and methods of development of a local navigation system are discussed.
I Ablyakimov, I Skorik, I Shirokov
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A study on automatic ship berthing system design
2009 International Conference on Networking, Sensing and Control, 2009The berthing is one of the most sophisticated control action carried out by human operators, especially when the disturbance due to wind and current become relatively large with a small ship velocity. Since, to improve the flexibility and safety' ship for berthing, auxiliary maneuvering measures such as bow and stern thrusters have come to be attached.
Van Phuoc Bui +3 more
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Automatic Control of Large Ships in Pilotage and Berthing
Journal of Navigation, 1974This paper surveys the present methods of pilotage and berthing, discusses some of the statistics of collision and grounding in confined waters, and suggests the development of shipborne automatic control devices to be used for the pilotage and berthing of large vessels.
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A Two-stage Automatic Latching System for The USVs Charging in Disturbed Berth
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020Automatic latching for charging in a disturbed environment for Unmanned Surface Vehicle (USVs) is always a challenging problem. In this paper, we propose a two-stage automatic latching system for USVs charging in berth. In Stage I, a vision-guided algorithm is developed to calculate an optimal latching position for charging.
Kaiwen Xue +6 more
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A multivariable neural controller for automatic ship berthing
IEEE Control Systems, 1997This article describes the development and application of a multivariable neural controller for automatic ship berthing. Following a brief review of various methods employed in automatic ship control, an online trained, backpropagation-based neural network controller is presented.
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A Study on the Ship’s Automatic Berthing Maneuver Using Real-Time Estimation
2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2020The berthing maneuver requires high maneuvering techniques because the navigators have to stop the ship at a specified point with decreased maneuverability in restricted water area. Therefore, the automation of berthing maneuver has been gaining increased attention from the marine transportation industry.
Jun Kayano, Tadatsugi Okazaki
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A comparative analysis of methods related to automatic ship berthing
2019 5th International Conference on Optimization and Applications (ICOA), 2019Automatic berthing has been known as one of the most difficult problems in ship control. During port approach and berthing maneuvers, the ship master takes into account many factors before any maneuver action, i.e. ship speed, wind speed, wind direction, water current direction, available power, heading angle and ship response.
Abdelali KAMIL +4 more
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Weighted RPCA based Background Subtraction for Automatic Berthing
2019 Chinese Control Conference (CCC), 2019Automatic berthing system is a kind of environment through the information collection around to find suitable berthing vessels, automatically enter the position control system. In recent years, background modeling, as an effective computer vision technology, has been widely studied to provide a rapid way to detect the ships entering the imaging area ...
Yinxiao Zhan, Ting Liu
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Optimal Energy Trajectory Planning and Control for Automatic Ship Berthing
2020 39th Chinese Control Conference (CCC), 2020This paper proposes an optimization method for the ship's optimal berth trajectory based on the ship dynamics. By introducing a mathematical dynamic model which helps to describe the nonlinear dynamic system of a ship, this paper attempts to solve the problem of optimal trajectory planning for ship berthing.
Xinzhao Liu, Junsheng Ren, Hui Wang
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