Ship trajectory planning method for reproducing human operation at ports

Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on operators preventing accidents, several researches have been conducted trajectory planning to automate berthing/unberthing. However, few studies aimed at assisting captains in The be presented captain should a maneuver that reproduces human captain's control characteristics. previously proposed methods cannot explicitly reflect motion navigation, which pay particular attention reduce mental planning. Herein, mild constraints method introduced. impose certain states (position, bow heading angle, speed, yaw angular velocity), taken approximately any given time. introduction this new constraint allows imposing careful (e.g., in-situ turns zero speed or pause safety before going astern), as if performed by during algorithm herein was used optimize trajectories large car ferry. results show can generate quantitatively equivalent recorded actual captain.