This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Open AccessArticle
Ship Autonomous Berthing Strategy Based on Improved Linear-Quadratic Regulator
by
Jian Yin
Jian Yin ,
Guoquan Chen
Guoquan Chen *,
Shenhua Yang
Shenhua Yang *
,
Zeyang Huang
Zeyang Huang and
Yongfeng Suo
Yongfeng Suo
Navigation College, Jimei University, Xiamen 361021, China
*
Authors to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2024, 12(8), 1245; https://doi.org/10.3390/jmse12081245 (registering DOI)
Submission received: 1 July 2024
/
Revised: 20 July 2024
/
Accepted: 22 July 2024
/
Published: 23 July 2024
Abstract
There has been significant interest in the research field of ship automatic navigation, particularly in the area of autonomous berthing. To address the key challenges of path planning and control during ship berthing, we propose an enhanced Linear−Quadratic Regulator (LQR) control approach, reinforced by the Covariance Matrix Adaptation Evolution Strategy (CMA−ES), along with an adaptive berthing strategy decision model. This integrated framework encompasses ship motion control, path planning, and berthing strategy selection to facilitate adaptive and autonomous ship berthing. Initially, a dynamic mathematical model of ship motion is established, taking into account wind and current interference effects. Subsequently, an adaptive environment−aware berthing strategy model is introduced to enable automatic selection of berthing strategies based on spatial relationships between environmental factors and the berth. By utilizing the refined LQR method, autonomous motion control for ship berthing is achieved. To validate the effectiveness of our controller, comprehensive simulation analyses are conducted under varying operating conditions to encompass crucial factors such as large drift angle characteristics of ships, shallow water effects, and bank effects across seven diverse working conditions. The simulation results underscore the robustness of our proposed method in responding to environmental interference while demonstrating its capability to select appropriate berthing strategies based on varying operational scenarios.
Share and Cite
MDPI and ACS Style
Yin, J.; Chen, G.; Yang, S.; Huang, Z.; Suo, Y.
Ship Autonomous Berthing Strategy Based on Improved Linear-Quadratic Regulator. J. Mar. Sci. Eng. 2024, 12, 1245.
https://doi.org/10.3390/jmse12081245
AMA Style
Yin J, Chen G, Yang S, Huang Z, Suo Y.
Ship Autonomous Berthing Strategy Based on Improved Linear-Quadratic Regulator. Journal of Marine Science and Engineering. 2024; 12(8):1245.
https://doi.org/10.3390/jmse12081245
Chicago/Turabian Style
Yin, Jian, Guoquan Chen, Shenhua Yang, Zeyang Huang, and Yongfeng Suo.
2024. "Ship Autonomous Berthing Strategy Based on Improved Linear-Quadratic Regulator" Journal of Marine Science and Engineering 12, no. 8: 1245.
https://doi.org/10.3390/jmse12081245
Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details
here.
Article Metrics
Article Access Statistics
For more information on the journal statistics, click
here.
Multiple requests from the same IP address are counted as one view.