Research on Autonomous Berthing for Unmanned Ship Based on Berth Coordinates

Authors

Yupeng Jia, 1. Key Laboratory of Marine Simulation &Control for Ministry of Transportation, Dalian 116026, China; ;
Yin Yong, 1. Key Laboratory of Marine Simulation &Control for Ministry of Transportation, Dalian 116026, China; ;
Zhongxian Zhu, 2. Marine Engineering College, Dalian Maritime University, Dalian 116026, China;

Abstract

Abstract: Aiming at the problem that the neural network autonomous docking controllers can only complete the docking of a specific ports, but cannot extend to other ports without training data, a coordinate system (berth coordinates with the berth vertex as theorigin and the shoreline as the Y Axis) is proposed. The relative position is used to train the controller. In V.Dragon-5000 navigation simulator, the container ship “Yinhe” is selected. After docking training at Dalian port, the docking controller is successfully extended to Shenzhen Shekou port and Singapore Changi port without training data. The simulation verifies that the application of the newly established coordinate system can greatly expand the application range of the neural network autonomous docking controller and reduce the cost required for training data.

Recommended Citation

Jia, Yupeng; Yong, Yin; and Zhu, Zhongxian (2020) "Research on Autonomous Berthing for Unmanned Ship Based on Berth Coordinates," Journal of System Simulation: Vol. 32: Iss. 10, Article 8.
DOI: 10.16182/j.issn1004731x.joss.20-FZ0303
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss10/8

First Page

1910

Revised Date

2020-06-04

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-FZ0303

Last Page

1917

CLC

U675.79

Recommended Citation

Jia Yupeng, Yin Yong, Zhu Zhongxian. Research on Autonomous Berthing for Unmanned Ship Based on Berth Coordinates[J]. Journal of System Simulation, 2020, 32(10): 1910-1917.

DOI

10.16182/j.issn1004731x.joss.20-FZ0303