PDF
Full
Outline
In order to improve the ship in the actual berthing path control accuracy and other issues,
a ship berthing path planning method is proposed based on nonlinear model predictive control (NMPC) combined with moving horizon estimation (MHE), enabling future trajectory prediction and real-time control updates. A Fossen model of the ship is established in the four-degree-of-freedom (4-DOF): heave, pitch, yaw and roll. It adapts to the movement state and environmental changes of the ship on the water surface and improves the accuracy of berthing control. By simulating the simulation experiment of autonomous berthing path planning of papua new guinea and manila international port ships.
The results show that the trajectory error is less than 8.0 m and the berthing position error is only 0.6 m. The effectiveness, generalization and applicability of the proposed algorithm are verified. In order to more accurately simulate the ship's motion response in waves, a 4-DOF ship mathematical model is developed to provide more comprehensive ship motion information for the control system. It further realizes more accurate control and enhances the robustness of the system.
The method provides theoretical and practical support for autonomous berthing in diverse port environments.
PDF
58
10
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62199257
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
