Guidance and Motion Control for Automated Berthing of Twin-waterjet Propelled Vessels
IFAC-PapersOnLine(2022)
摘要
The berthing of vessels is a safety critical operation due to tight requirements for precise navigation in the constrained harbor area. This study proposes a novel guidance and motion control algorithm to achieve the automated berthing operation of a twin-waterjet propelled vessel. A three phases guidance algorithm is devised that enables the smooth operation of the vessel between the transition and docking phase. The superior manoeuvrability offered by the twin-waterjet propulsion system provides high precision control of the vessel also at low speed, and the possibility of performing complex manoeuvres in limited space. A sliding mode manoeuvring controller and a two stage trust allocation scheme translate the computed speed and heading set-points into actual control actions. A simulation case study is utilized to verify the feasibility of the proposed berthing strategy.
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关键词
Automated berthing,Marine systems guidance,navigation,control,Thrust allocation,Waterjet vessels
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