Work

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

Year: 2024

Type: article

Abstract: 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.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse12122293

Authors: Haoze Zhang, Yingjun Zhang, Hongrui Lu, Yihan Niu

Institution: Dalian Maritime University

Language: English

Topic: Maritime Navigation and Safety

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,955

Funders: National Natural Science Foundation of China, Dalian Maritime University