Article(id=1240655018685166442, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655017040991028, articleNumber=null, orderNo=null, doi=10.3969/j.issn.1000-4653.2025.04.003, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1760112000000, receivedDateStr=2025-10-11, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1773724806709, onlineDateStr=2026-03-17, pubDate=1766592000000, pubDateStr=2025-12-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773724806709, onlineIssueDateStr=2026-03-17, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773724806709, creator=13701087609, updateTime=1773724806709, updator=13701087609, issue=Issue{id=1240655017040991028, tenantId=1146029695717560320, journalId=1240618002186551303, year='2025', volume='48', issue='4', pageStart='1', pageEnd='199', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773724806318, creator=13701087609, updateTime=1773725219619, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1240656750618145316, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655017040991028, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1240656750618145317, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655017040991028, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=13, endPage=25, ext={EN=ArticleExt(id=1240655019809239918, articleId=1240655018685166442, tenantId=1146029695717560320, journalId=1240618002186551303, language=EN, title=Survey on research status of trajectory planning and control methods for autonomous ship berthing, columnId=1240655017754022712, journalTitle=Navigation of China, columnName=Special Invited Manuscripts, runingTitle=null, highlight=null, articleAbstract=

Autonomous berthing is a key element of intelligent navigation, yet its strong scenario dependence limits the application of theoretical research into actual implementations. Variations in ship type, propulsion configuration, and berth conditions impose distinct requirements on trajectory planning and control. At the same time, defining the completion criteria for autonomous berthing operation and establishing a comprehensive evaluation framework are essential for ensuring practicality and safety. This paper systematically reviews recent advances in trajectory planning and motion control for autonomous berthing. First, the key technical elements, including trajectory planning and motion control methods, are introduced. Second, different berthing strategies tailored to specific ship types and propulsion systems are analyzed in depth. Subsequently, berthing completion standards, performance evaluation metrics, and experimental validation approaches are discussed. Finally, the major challenges in the current research are summarized, and potential directions for future development are outlined.

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船舶自动靠泊是智能航行的重要环节，但其高度场景依赖性使研究成果难以直接转化为通用系统。不同船型、推进配置以及复杂泊位条件，对轨迹规划与控制策略均提出差异化要求。同时，科学定义靠泊完成状态并建立评价体系，是确保系统实用性与安全性的关键。本文系统梳理了近年来船舶自动靠泊轨迹规划与控制的研究进展：首先介绍关键技术要素，包括轨迹规划与运动控制方法；其次重点分析了面向特定船型与推进系统的差异化靠泊策略；随后讨论了靠泊完成标准、性能评估及试验验证方法；最后总结了当前研究面临的主要挑战，展望了未来发展方向。

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李诗杰（1988—），女，博士，副教授，研究方向为船舶智能航行运动控制。E-mail:lishijie@whut.edu.cn

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李诗杰（1988—），女，博士，副教授，研究方向为船舶智能航行运动控制。E-mail:lishijie@whut.edu.cn

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