| Autor: |
Liu, Xiaocheng, Hu, Zhihuan, Yang, Ziheng, Zhang, Weidong |
| Předmět: |
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| Zdroj: |
Journal of Marine Science & Engineering; Jun2024, Vol. 12 Issue 6, p933, 19p |
| Abstrakt: |
Ship berthing is one of the most challenging operations for crews, involving optimal trajectory generation and intricate harbor maneuvering at low speed. In this paper, we present a practical path-planning method that generates smooth trajectories for an underactuated surface vehicle (USV) traveling in a confined harbor environment. Our approach introduces a Generalized Voronoi Diagram (GVD)-based path planner to handle the unberthing phase. The hybrid A* search-based path finding method is used for the transportation phase. A simple planner based on a Bézier curve is proposed for the berthing phase. To track the target path, an adaptive pure pursuit method and proportional-derivative (PD) controller is used. The performance of the given method is tested numerically and experimentally on a catamaran with a pair of non-steerable thrusters. The results demonstrate that the proposed algorithm can achieve a successful berthing operation through static obstacle handling and smooth trajectory generation. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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