An event-triggered trajectory planning and tracking scheme for automatic berthing of unmanned surface vessel

Yuan, Shouzheng; Liu, Zhilin; Sun, Yuxin; Wang, Zhongxin; Zheng, Linhe

doi:10.1016/j.oceaneng.2023.113964

Cited by 13 publications

(3 citation statements)

References 18 publications

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“…In terms of velocity planning during the berthing process, examination of the vessel's propeller and speed response curves in Figures 15 and 24 reveals that the BPVM algorithm proposed in this paper can effectively plan the vessel's velocity, enabling it to accomplish the berthing task quickly and efficiently. In contrast to velocity planning algorithms based on empirical [5,23] or residual distance [1,6] methods, the proposed BPVM algorithm in this paper is tailored to better align with the acceleration and deceleration traits of vessels. The ability to adjust the propeller to negative thrust facilitates quicker berthing.…”

Section: Discussionmentioning

confidence: 99%

“…In 2021, R. Sawada [5] utilized third-order Bezier curves to fit the berthing trajectory of ships from departure points to docks, yielding a smooth and traversable berthing path. Similarly, in 2021, Yuan [6] proposed an A* algorithm based on Bezier curves to devise smooth berth trajectories. To ensure the USV velocity converged to zero at the berth, an interpolation method was introduced to densify the route points at the end of the berth trajectory.…”

Section: Double Section Bezier Curvementioning

confidence: 99%

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Research on Ship Automatic Berthing Algorithm Based on Flow Matching and Velocity Matching

Zhang,

Zhao,

Zhang

et al. 2024

JMSE

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Addressing the automatic berthing task for vessels, this study introduces the Flow Matching Double Section Bezier Berth Method (FM-DSB) for handling downstream and upstream berthing instructions. By considering the orientation relationship between the direction of water flow and the berth, combined with berthing modes, the algorithm determines the vessel’s entry angle into the berth and plans the berthing path using double-section Bezier curves. Effective control of vessel speed post-path determination is essential. Therefore, based on the response of vessels to propeller inputs, this study introduces the Berthing Path Velocity Matching Method (BPVM). The BPVM ensures speed matching along the berthing path through analysis of vessel acceleration and deceleration capabilities. Subsequently, simulation experiments are conducted to validate the planning algorithm for both long-distance and short-distance berthing. Furthermore, the feasibility and effectiveness of the berthing path are verified using a dual-loop path tracker based on the planned results. Experimental outcomes illustrate the adaptability of the proposed algorithm in planning berthing paths that align with vessel motion characteristics, effectively guiding vessels into berths through the designed dual-loop control system.

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Section: Discussionmentioning

confidence: 99%

Section: Double Section Bezier Curvementioning

confidence: 99%

Research on Ship Automatic Berthing Algorithm Based on Flow Matching and Velocity Matching

Zhang,

Zhao,

Zhang

et al. 2024

JMSE

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“…In recent years, intellectualization has become the trend of ship development, and the development of artificial intelligence, big data and other emerging technologies has fuelled the research progress of intelligent ships. Intelligent ships have made great progress in the fields of path planning [1] , autonomous collision avoidance [2] , and automatic berthing [3] , etc., but the research on anchoring safety and early warning of the risk of dragging anchor for intelligent ships is still in its infancy. Anchoring is one of the routine operations of a ship, and the risk caused by intelligent ships that failed to detect and control anchoring in time can't be ignored.…”

Section: Introductionmentioning

confidence: 99%

Risk early warning method of ship anchor dragging based on simulation experiments

Chen,

Xi,

Jiang

2024

Third International Conference on Intelligent Traffic Systems and Smart City (ITSSC 2023)

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In response to the issue of limited timeliness in the current monitoring of ship anchor dragging, a method of early warning of ship anchor dragging risk utilising fuzzy set theory was proposed. Based on sailing simulator, ship anchoring simulation experiments were conducted to collect trajectory data of ship anchoring under various environmental conditions, and the characteristics of the trajectory of normal anchored ships were analyzed. During a yawing motion, the yawing width, ground speed and heading change rate of were established as early warning indicators for ship anchor dragging risk. Triangular fuzzy numbers and the distribution of early warning indicators obtained from simulation experiments were combined to determine the membership functions of each indicator, and the entropy weight method was used to determine indicator weights. Then ship anchor dragging risk was comprehensively evaluated and the anchor dragging probability was quantified. Warning levels were set according to actual conditions, and the warnings will be alarmed if the anchor dragging probability reaches the corresponding warning level. The results indicate that during the yawing motion of anchored ships, larger yawing width, higher ground speed, and smaller ship heading change rate correspond to higher anchor dragging probability. Finally, sailing simulators were utilized for simulation experiments ,and the feasibility of the proposed method was validated. The method exhibits practical operability and demonstrates favorable timeliness in early warning capabilities.

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EMPMR berthing scheme: A novel event-triggered motion planning and motion replanning scheme for unmanned surface vessels

Yuan,

Liu,

Sun

et al. 2023

Ocean Engineering

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An event-triggered trajectory planning and tracking scheme for automatic berthing of unmanned surface vessel

Cited by 13 publications

References 18 publications

Research on Ship Automatic Berthing Algorithm Based on Flow Matching and Velocity Matching

Research on Ship Automatic Berthing Algorithm Based on Flow Matching and Velocity Matching

Risk early warning method of ship anchor dragging based on simulation experiments

EMPMR berthing scheme: A novel event-triggered motion planning and motion replanning scheme for unmanned surface vessels

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