Research Communication | Open Access
Volume 2019 | Communication ID 252
Volume 2019 | Communication ID 252
| A study on ship automatic berthing using optimal control and artificial neural network |
Abdelali Kamil, Khalifa Mansouri and Mostafa Rachik
Received |
Accepted |
Published |
Feb 01, 2019 |
Feb 26, 2019 |
Mar 01, 2019 |
Abstract: Automatic berthing has been known as one of the most difficult problems in ship control, since berthing operation could be characterized by the following: reduction of controllability at low speed, complicated and nonlinear differential equations of motion, effect of environmental disturbances and other problems. To ensure a safe and appropriate berthing maneuver, a new concept named ‘virtual window’, which consists of changing ship position as well as ship heading, has been introduced using Optimal Control and Artificial Neural Networks. By taking the calculated rudder as proposed by ...