Ship Maneuvering behavior significantly changes according to water depth. A mathematical model has been established for estimation of maneuvering motion in shallow water with ordinary speed range. But estimation of harbor maneuvering motion in shallow water has not been cleared yet, because of its hydrodynamical complication. In this paper, establishment of the mathematical model for harbor maneuvering motion in shallow water is discussed. In order to clarify characteristics of hull, propeller and rudder, also interaction forces among hull, propeller and rudder, the captive model tests are carried out in a wide range concerning yaw and sway motion. Verification of the mathematical model for harbor maneuvering motion has been made by comparing results of simulation using the mathematical model and free running model test in shallow water. In a free running model test, the model's position and velocity should be measured with high accuracy for the purpose of analysis of maneuvering characteristics. Therefore, a new measuring system using a CCD camera was developed. The accuracy of position measuring of this system, which is 1.0cm, made it possible to analyze harbor maneuvering motion at low speed. The results gained by the simulation using mathematical model proposed in this paper show good agreement with results of the free running model test.
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