SMALL SHIP CONTROL METHOD FOR BERTHING BASED ON ACQUIRED MOTION DATA

摘要

This paper describes a small ship control method for berthing. It is not easy to construct the ship's motion model in advance because it contains a lot of uncertain factors such as the influence of its shape and environmental disturbances. Therefore, the motion model should be constructed from motion data acquired through experiments online. In this paper, first of all, the method of constructing the ship's motion model is described. After that, the motion planning to reach the target position based on the acquired motion model is described. The ship plans an appropriate motion by the improved genetic algorithm for motion planning at every 500 millisecond. In this paper, we propose a sequence of these approaches and show the effectiveness of them by experiments.