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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2023.6
- 수록면
- 122 - 128 (7page)
이용수
초록· 키워드
오류제보하기
Autonomous berthing is a crucial technology for autonomous ships, requiring optimal trajectory planning to prevent collisions and minimize time and control efforts. This paper presents a two-phase, two-point boundary value problem (TPBVP) strategy for creating an optimal berthing trajectory for a twin-propeller, twin-rudder ship with autonomous berthing capabilities. The process is divided into two phases: the approach and the terminal. Tunnel thruster use is limited during the approach but fully employed during the terminal phase. This strategy permits concurrent optimization of the total trajectory duration, individual phase trajectories, and phase transition time. The efficacy of the proposed method is validated through two simulations. The first explores a scenario with phase transition, and the second generates a trajectory relying solely on the approach phase. The results affirm our algorithm"s effectiveness in deciding transition necessity, identifying optimal transition timing, and optimizing the trajectory accordingly. The proposed two-phase TPBVP approach holds significant implications for advancements in autonomous ship navigation, enhancing safety and efficiency in berthing operations.
목차
ABSTRACT
1. Introduction
2. Preliminary
3. Berthing Trajectory Optimization
4. Simulation Results
5. Conclusions
References
참고문헌 (15)
참고문헌 신청
Andersson, J. A. E., Gillis, J., Horn, G., Rawlings, J. B., & Diehl, M. (2019). CasADi: A software framework for nonlinear optimization and optimal control. Mathematical Programming Computation, 11(1), Article 1. https://doi.org/10.1007/s12532-018-0139-4
Bitar, G., Eriksen, B.-O. H., Lekkas, A. M., & Breivik, M. (2021). Three-Phase Automatic Crossing for a Passenger Ferry With Field Trials. 2021 European Control Conference (ECC), 2271–2277. https://doi.org/10.23919/ECC54610.2021.9655139
Bitar, G., Martinsen, A. B., Lekkas, A. M., & Breivik, M. (2020). Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments⁎⁎This work is supported by the Research Council of Norway through the project number 269116 as well
Fossen, T. I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons.
Lindegaard, K.-P. (2003). Acceleration feedback in dynamic positioning.
Bitar, G., Eriksen, B.-O. H., Lekkas, A. M., & Breivik, M. (2021). Three-Phase Automatic Crossing for a Passenger Ferry With Field Trials. 2021 European Control Conference (ECC), 2271–2277. https://doi.org/10.23919/ECC54610.2021.9655139
Bitar, G., Martinsen, A. B., Lekkas, A. M., & Breivik, M. (2020). Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments⁎⁎This work is supported by the Research Council of Norway through the project number 269116 as well
Fossen, T. I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons.
Lindegaard, K.-P. (2003). Acceleration feedback in dynamic positioning.
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