Autonomous berthing technology is a crucial engineering control problem within the ship intelligence system, encompassing a series of complex operations and technologies. Firstly, this paper analyses the research on autonomous berthing technology fro...
Research on autonomous ships has primarily focused on developing response technologies for navigation from pilot station to pilot station. This study developed an automatic berthing support program that calculates the necessary thruster output values...
Autonomous berthing is a critical phase in the fully autonomous navigation process of MASS (Maritime Autonomous Surface Ship). However, the autonomous berthing stage of MASS is significantly influenced by environmental factors and involves a wide ran...
Autonomous ship technology, which includes real-time monitoring, satellite communication, and automatic navigation, is rapidly advancing. Despite significant research on single unmanned ships, there is a lack of studies on complex tasks, such as ship...
There has been significant interest in the research field of ship automatic navigation, particularly in the area of autonomous berthing. To address the key challenges of path planning and control during ship berthing, we propose an enhanced Linear&mi...
Existing research on auto-berthing of ships has mainly focused on the design and implementation of controllers for automatic berthing. For the real automatic docking processes, not only do external environmental perturbations need to be taken into ac...
In the autonomous berthing of ultra-large under-actuated vessels, the combined effects of low-speed maneuvering and shallow water conditions introduce strong nonlinear hydrodynamic characteristics which cannot be accurately captured by conventional l...
This paper tackles the highly challenging problem of automatic berthing for autonomous surface vessels (ASVs), encompassing trajectory planning, trajectory tracking, and collision avoidance. Firstly, a novel A* algorithm integrated with a quasi-unifo...
To address the issues of path tracking accuracy and control stability in autonomous ship berthing, an improved algorithm combining nonlinear model predictive control (NMPC) and convolutional neural networks (CNNs) is proposed in this paper. A CNN is...
Automated berthing remains a critical challenge for autonomous surface vessels (ASVs), necessitating precise berthing state estimation as a fundamental prerequisite. In this paper, we present a novel berthing state estimation method tailored for ASVs...
Autonomous berthing of unmanned surface vehicles (USVs) requires high-precision positioning and accurate detection of navigable region in complex port environments. This paper presents an integrated LiDAR-based approach to address these challenges. A...
To address the strongly nonlinear hydrodynamic coupling and complex maneuvering challenges encountered by large ships during berthing operations in restricted waters, this paper proposes a high-precision autonomous berthing control system incorporati...
This study deals with berth allocation for Maritime Autonomous Surface Ships (MASSs) in the context of the mixed operation of MASSs and manned vessels from the perspective of port-shipping companies’ collaboration. Two berth allocation strategi...
Surface-vehicle berthing is a complex and challenging task. It involves complicated ship dynamics owing to a large drift angle and the time-varying environmental disturbances induced by wind, wave, and current. Therefore, berthing requires state proc...
Ship berthing operations are inherently challenging for maritime vessels, particularly within restricted port areas and under unfavorable weather conditions. Contrary to autonomous open-sea navigation, autonomous ship berthing remains a significant t...
Autonomous ship berthing requires advanced path planning to balance multiple objectives, such as minimizing berthing time, reducing energy consumption, and ensuring safety under dynamic environmental constraints. However, traditional planning and lea...
Berthing path planning for ships in the presence of ocean currents is a challenging task. Several relevant methods have been proposed, but they all assume a constant surge velocity for the whole path. This hypothesis makes it impossible to achieve th...
The safety of unmanned ship berthing is of paramount importance. In order to explore the influence of wind and wave coupling, a berthing computational fluid dynamics (CFD) model was established, and the characteristics of speed field, pressure field,...
Smart maritime transportation requires coordinated decisions across ship arrival management, port services, and Vessel Traffic Services (VTSs). This study develops a cooperative multi-agent reinforcement learning (MARL) framework representing three i...
As seafarers are involved in Maritime Autonomous Surface Ships (MASS), except for those in the fourth level of autonomy, the decision making of autonomous berthing should be carried out and be understood by human beings. This paper proposes a fuzzy l...
Uncertainty may affect the effectiveness and feasibility of berthing trajectory planning for unmanned surface vessels. To enhance the disturbance-rejection capability and robustness of unmanned surface vessel berthing trajectory planning under uncert...
This study introduces global path planning for autonomous ships in port environments, with a focus on the Port of Ulsan, where various environmental factors are modeled for analysis. Global path planning is considered to take place from departure to...
Autonomous surface vehicles (ASVs) are becoming more and more popular for performing hydrographic and navigational tasks. One of the key aspects of autonomous navigation is the need to avoid collisions with other objects, including shore structures....
With the continuous improvement of unmanned ship automation requirements, research into the automatic berthing of underactuated unmanned ships has important theoretical significance and practical value. In order to determine the trajectory of unmanne...
Autonomous ship maneuvering in harbor environments is increasingly supported by advances in model predictive control, reinforcement learning, digital twins, multi-sensor fusion, berth allocation, and multi-agent coordination. However, these developme...
Background: Automobile terminals play a key role in global finished car supply chains. Due to their connecting character between manufacturers on the one side and distributers on the other side, they are continuously faced with volatile demand fluctu...
Recently, smart port systems connected to autonomous ships have attracted increasing interest. Thus, an intelligent port system can automatically berth to create an intelligent port system. To ensure the safety of large ships moored in open coastal t...
Currently, intelligent ships are still in the early stages of development in terms of autonomous navigation and autonomous berthing, so almost no source of fault data can be obtained. Conducting an in-depth analysis of the failure modes of intelligen...
Intelligent ships are a key focus for the future development of maritime transportation, relying on efficient decision-making and autonomous control within complex environments. To enhance the perception, prediction, and decision-making capabilities...
We propose a LiDAR point-based docking spot generation system for autonomous docking using point clouds from a low-density LiDAR sensor in berthing environments. The system consists of four key stages: scan matching, 3D object detection, long-term ob...
Modern port operations face increasing challenges from rapidly changing weather and environmental conditions, requiring accurate short-term forecasting to support safe and efficient maritime activities. This study presents a sensor fusion-based machi...
The increasing deployment of autonomous vehicles in port logistics requires safety assessment methods that remain valid in mixed traffic environments. This study evaluates the safety of mixed automated guided vehicle (AGV) and human-driven vehicle (H...