Results 11 to 20 of about 630,148 (175)

A Novel COLREGs-Based Automatic Berthing Scheme for Autonomous Surface Vessels

Journal of Marine Science and Engineering
This paper tackles the highly challenging problem of automatic berthing for autonomous surface vessels (ASVs), encompassing trajectory planning, trajectory tracking, and collision avoidance. Firstly, a novel A* algorithm integrated with a quasi-uniform B-
Shouzheng Yuan, Gongwu Sun, Yunqian He, Yuxin Sun, Simeng Song, Wanyuan Zhang, Huifeng Jiao   +6 more
doaj   +3 more sources

Model Reference Adaptive Control-Based Autonomous Berthing of an Unmanned Surface Vehicle under Environmental Disturbance

Machines, 2022
Surface-vehicle berthing is a complex and challenging task. It involves complicated ship dynamics owing to a large drift angle and the time-varying environmental disturbances induced by wind, wave, and current.
Seungdae Baek, Joohyun Woo
doaj   +2 more sources

Autonomous Berthing of Unmanned Surface Vehicles Based on Improved Dubins-RRT Algorithm and Non-Singular Terminal Sliding Mode Control

IEEE Access, 2023
Autonomous berthing is the last step to achieving the autonomous operation of unmanned surface vehicles (USVs). Due to the significant disturbance of wind, waves, and currents and the uncertainties of the model, it is difficult to realize autonomous ...
Feifei Song, Xiaofei Yang, Zhengrong Xiang   +2 more
doaj   +2 more sources

A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control [PDF]

Journal of Marine Science and Technology
Abstract Autonomous ships are designed and equipped to perceive their internal and external environments and subsequently take appropriate actions based on predefined objective(s) without human intervention. Consequently, trajectory-planning algorithms for autonomous berthing must consider factors such as system dynamics, ship actuators ...
Agnes Ngina Mwange, Dimas Maulana Rachman, Rin Suyama, Atsuo Maki   +3 more
core   +7 more sources

A DDQN-Guided Dual-Population Evolutionary Multitasking Framework for Constrained Multi-Objective Ship Berthing

Journal of Marine Science and Engineering
Autonomous ship berthing requires advanced path planning to balance multiple objectives, such as minimizing berthing time, reducing energy consumption, and ensuring safety under dynamic environmental constraints.
Jinyou Mou, Qidan Zhu
doaj   +2 more sources

Improved Model Predictive Control Algorithm for the Path Tracking Control of Ship Autonomous Berthing

Journal of Marine Science and Engineering
To address the issues of path tracking accuracy and control stability in autonomous ship berthing, an improved algorithm combining nonlinear model predictive control (NMPC) and convolutional neural networks (CNNs) is proposed in this paper.
Chunyu Song, Xiaomin Guo, Jianghua Sui
doaj   +2 more sources

Fuzzy Logic-Based Decision-Making Method for Ultra-Large Ship Berthing Using Pilotage Data [PDF]

Journal of Marine Science and Engineering
As seafarers are involved in Maritime Autonomous Surface Ships (MASS), except for those in the fourth level of autonomy, the decision making of autonomous berthing should be carried out and be understood by human beings. This paper proposes a fuzzy logic-
Yibo Li, Guobin Song, Tsz-Leung Yip, Gi-Tae Yeo   +3 more
doaj   +2 more sources

Berthing State Estimation for Autonomous Surface Vessels Using Ship-Based 3D LiDAR

Journal of Marine Science and Engineering
Automated berthing remains a critical challenge for autonomous surface vessels (ASVs), necessitating precise berthing state estimation as a fundamental prerequisite. In this paper, we present a novel berthing state estimation method tailored for ASVs and
Haichao Wang, Yong Yin, Qianfeng Jing, Chen-Liang Zhang   +3 more
doaj   +2 more sources

Integrated LiDAR-Based Localization and Navigable Region Detection for Autonomous Berthing of Unmanned Surface Vessels

Journal of Marine Science and Engineering
Autonomous berthing of unmanned surface vehicles (USVs) requires high-precision positioning and accurate detection of navigable region in complex port environments. This paper presents an integrated LiDAR-based approach to address these challenges.
Haichao Wang, Yong Yin, Liangxiong Dong, Helang Lai   +3 more
doaj   +2 more sources

Model validation and berthing of an autonomous ferry [PDF]

, 2021
Det blir stadig mer forskning på ubemannede overflatefartøy, med et økt fokus på dokking-operasjoner. Denne avhandlingen ønsker å bidra til denne forskningen ved å presentere en ny metode for dokking. milliAmpere-ferjen er en autonom ferje som skal operere i området rundt Ravnkloa i Trondheim, og vil brukes både i simuleringer og eksperimentelle forsøk.
Knudsen, Simen Krantz
openaire   +2 more sources