The purpose of this study is to meet the maneuverability requirements Unmanned Surface Vehicle (USV) in different conditions by effective use bow and stern thruster, thus completing automatic berthing task. Based on MMG model, mathematical model USV with thruster was established. And motion simulation maneuvering carried out through numerical calculation. Then plan designed basedon analysis low...

With more goods to be transported oversea, traffic and vessels’ dimensions increase while berthing areas merely remain constant thus challenge ship masters pilots maneuver in small basins with dense even bad weather situations. Too fast approaches or steep angles of attack result damages fenders, quay walls, impact the hull structure. We propose a shore-based, vessel-independent assistant syste...

The Berth Allocation Problem (BAP) consists on programming and allocating ships to berthing areas along a quay. The BAP is modeled as a vehicle routing problem and a recently proposed evolutionary hybrid method denominated PTA/LP is used to solve it. The PTA/LP combines the Population Training Algorithm with Linear Programming to generate improving incoming columns in a column generation proces...

Automatic berthing is at the top level of ship autonomy; it unwise and hasty to hand over control initiative controller algorithm without foundation maneuvering model. The maneuver model predicts responses steerage external disturbances, provides a for algorithm. modular MMG widely adopted in maneuverability studies. However, there are two ambiguous questions on modeling: What similarities diff...

Autonomous ship technology, which includes real-time monitoring, satellite communication, and automatic navigation, is rapidly advancing. Despite significant research on single unmanned ships, there a lack of studies complex tasks, such as berthing using swarm autonomous tugboats. This review article provides an overview various projects related to tugboats for discusses the trends in required ...