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.

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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