Trajectory Optimization for Autonomous Berthing of a Twin-Propeller Twin-Rudder Ship

Autonomous berthing is a crucial technology for autonomous ships, requiring optimal trajectory planning to prevent collisions and minimize time control efforts. This paper presents two-phase, two-point boundary value problem (TPBVP) strategy creating an twin-propeller, twin-rudder ship with capabilities. The process divided into two phases: the approach terminal. Tunnel thruster use limited during but fully employed terminal phase. permits concurrent optimization of total duration, individual phase trajectories, transition time. efficacy proposed method validated through simulations. first explores scenario transition, second generates relying solely on results affirm our algorithm's effectiveness in deciding necessity, identifying timing, optimizing accordingly. two-phase TPBVP holds significant implications advancements navigation, enhancing safety efficiency operations.