System parameter exploration of ship maneuvering model for automatic docking/berthing using CMA-ES
نویسندگان
چکیده
Accurate maneuvering estimation is essential to establish autonomous berthing control. The system-based mathematical model widely used estimate the ship’s maneuver. Commonly, system parameters of are obtained by captive test (CMT), which time-consuming construct an accurate suitable for complex maneuvers. System identification (SI) alternative constructing model. However, SI on maneuver has been only conducted much simpler maneuver: turning and zig-zag. Therefore, this study investigates a capable main contributions as follows: (i) optimizing with reduced amount tests than CMT-based scheme; (ii) Find favorable choice objective function type training data optimization. Global optimization scheme CMA-ES explored MMG from free-running model’s trajectories. simulation proposed method showed better agreement CMT. Furthermore, required fewer amounts scheme.
منابع مشابه
the use of appropriate madm model for ranking the vendors of mci equipments using fuzzy approach
abstract nowadays, the science of decision making has been paid to more attention due to the complexity of the problems of suppliers selection. as known, one of the efficient tools in economic and human resources development is the extension of communication networks in developing countries. so, the proper selection of suppliers of tc equipments is of concern very much. in this study, a ...
15 صفحه اولAlternative Restart Strategies for CMA-ES
This paper focuses on the restart strategy of CMA-ES on multi-modal functions. A first alternative strategy proceeds by decreasing the initial step-size of the mutation while doubling the population size at each restart. A second strategy adaptively allocates the computational budget among the restart settings in the BIPOP scheme. Both restart strategies are validated on the BBOB benchmark; the...
متن کاملautomatic verification of authentication protocols using genetic programming
implicit and unobserved errors and vulnerabilities issues usually arise in cryptographic protocols and especially in authentication protocols. this may enable an attacker to make serious damages to the desired system, such as having the access to or changing secret documents, interfering in bank transactions, having access to users’ accounts, or may be having the control all over the syste...
15 صفحه اولEffects of Ship Motion on Ship Maneuvering in Waves
Ship maneuvering performance is typically predicted in calm water conditions. This provides very valuable information at the initial ship design stage. However, since the ship always sails in waves, the maneuvering performance of the ship in seaway may be significantly different from calm water condition. Therefore, if the effect of waves and the corresponding motion responses can be included i...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of marine science and technology
سال: 2022
ISSN: ['2709-6998', '1023-2796']
DOI: https://doi.org/10.1007/s00773-022-00889-3