Ship Autonomous Berthing Simulation Based on Covariance Matrix Adaptation Evolution Strategy

Existing research on auto-berthing of ships has mainly focused on the design and implementation of controllers for automatic berthing. For the real automatic docking processes, not only do external environmental perturbations need to be taken into account but also motion paths, docking strategies an...

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Bibliographic Details
Published inJournal of marine science and engineering Vol. 11; no. 7; p. 1400
Main Authors Chen, Guoquan, Yin, Jian, Yang, Shenhua
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.07.2023
Subjects
Adaptation
Adaptive control
Automatic control
Automation
autonomous berthing
Berthing
berthing strategy
CMA-ES
Control algorithms
Control systems
Controllers
Covariance matrix
Docking
Ecosystem disturbance
Evolution
Experiments
Kinematics
Linear quadratic regulator
Literature reviews
LQR
Mathematical analysis
Motion control
Optimal control
Optimization
Path planning
Perturbation
Perturbations
Ships
Simulation
Steering
Strategy
Velocity
China
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Summary:Existing research on auto-berthing of ships has mainly focused on the design and implementation of controllers for automatic berthing. For the real automatic docking processes, not only do external environmental perturbations need to be taken into account but also motion paths, docking strategies and ship mechanical constraints, which are important influential factors to measure autonomous docking methods. Through a literature review of ship path planning and motion control for automatic berthing, it is found that many studies ignore the interference of the actual navigational environment, especially for ships sailing at slow speed when berthing, or do not consider the physical constraints of the steering gear and the main engine. In this paper, we propose a hybrid approach for autonomous berthing control systems based on a Linear Quadratic Regulator (LQR) and Covariance Matrix Adaptation Evolution Strategy (CMA-ES), which systematically addresses the problems involved in the berthing process, such as path planning, optimal control, adaptive berthing strategies, dynamic environmental perturbations and physically enforced structural constraints. The berthing control system based on the LQR and modified LQR-CMA-ES have been validated by simulation work. The simulation results show that the proposed method is able to achieve the automatic docking of the ship well and the system is robust and well adapted to environmental disturbances at slow speed when docking.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse11071400