This paper aims to verify a new automatic berthing system using a path following algorithm. Berthing operation is one of the most burdensome tasks for crews among several ship operations. The maneuverability of a ship at low speed during berthing operation deteriorates and becomes more vulnerable to disturbances such as wind. Therefore, it is necessary to support and automate operations that require advanced skills such as berthing operation. Previous studies on automatic berthing have investigated various methods to handle the nonlinearity of ship maneuvering motion and determine the optimal control variable. There is a trade-off between accuracy and real-time performance of berthing control from these studies. The algorithms must have sufficiently real-time performance while maintaining the accuracy of control. For these purposes, we propose the automatic berthing system applied a path following algorithm for a ship with one propeller and one rudder in this paper. We show the mathematical model for numerical simulation of berthing control and carried out system identification of the subject ship. In full-scale experiments, the proposed system performed automatic berthing control in both calm wind conditions around 2 m/s and strong wind conditions around 6 m/s.

中文翻译：

---

路径跟随算法在自动靠泊控制中的应用

本文旨在验证一种使用路径跟随算法的新型自动靠泊系统。在数艘船舶作业中，靠泊作业是船员最繁重的工作之一。靠泊作业时船舶的低速机动性变差，更容易受到风等干扰的影响。因此，有必要支持和自动化需要高级技能的操作，例如靠泊操作。以往关于自动靠泊的研究已经研究了各种方法来处理船舶操纵运动的非线性并确定最佳控制变量。在这些研究中，靠泊控制的准确性和实时性能之间存在权衡。算法必须具有足够的实时性能，同时保持控制的准确性。为了这些目的，我们提出了一种自动靠泊系统，该系统在本文中为一桨一舵的船舶应用了路径跟踪算法。给出了靠泊控制数值模拟的数学模型，并对本船进行了系统辨识。在全尺寸实验中，所提出的系统在大约 2 m/s 的平静风条件和大约 6 m/s 的强风条件下执行自动靠泊控制。