Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability
In the complex port environment, ship berthing manipulation is one of the most difficult operations. In this study, an algorithm of berthing and maneuvering was designed for a catamaran unmanned surface vehicle (USV), which is used for port patrol and protection. Considering the influence of wind, w...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-03-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/9/3/289 |
| _version_ | 1797412911545581568 |
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| author | Gongxing Wu Mingyuan Zhao Yu Cong ZhiWen Hu Guofu Li |
| author_facet | Gongxing Wu Mingyuan Zhao Yu Cong ZhiWen Hu Guofu Li |
| author_sort | Gongxing Wu |
| collection | DOAJ |
| description | In the complex port environment, ship berthing manipulation is one of the most difficult operations. In this study, an algorithm of berthing and maneuvering was designed for a catamaran unmanned surface vehicle (USV), which is used for port patrol and protection. Considering the influence of wind, waves, and currents, the mathematical model of the maneuvering movement for the twin-hull and twin-propeller USV was established. Based on the Visual Studio development platform, the USV’s berthing manipulation simulation software was designed. Through the turning simulation experiment of the catamaran USV under different differential rotation speeds of the twin propellers, the relationship between the ship’s turning radius and the propeller speed difference was obtained. A simulation experiment of decelerating and stopping ships at different speeds was carried out, which can provide a reference for speed control when berthing. A berthing maneuvering algorithm based on ship maneuverability was proposed. USV’s berthing algorithm includes three stages: approach process, turning process, and berthing process. In the approach process, the appropriate approach speed was select according to the rotation angle. In the turning process, the right and left propeller speed differences were select. In the berthing process, the berthing speed was controlled according to the berthing distance. In the port environment, a berthing simulation experiment for catamaran USV was carried out. The simulation results show that based on the berthing and maneuvering algorithm, the efficiency and safety of catamaran USV berthing can be improved. |
| first_indexed | 2024-03-09T05:10:06Z |
| format | Article |
| id | doaj.art-6d5d97c57872491bb2fce63b8c5baa82 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T05:10:06Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-6d5d97c57872491bb2fce63b8c5baa822023-12-03T12:50:12ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-03-019328910.3390/jmse9030289Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship ManeuverabilityGongxing Wu0Mingyuan Zhao1Yu Cong2ZhiWen Hu3Guofu Li4College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaBureau Veritas, Shanghai 200031, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaIn the complex port environment, ship berthing manipulation is one of the most difficult operations. In this study, an algorithm of berthing and maneuvering was designed for a catamaran unmanned surface vehicle (USV), which is used for port patrol and protection. Considering the influence of wind, waves, and currents, the mathematical model of the maneuvering movement for the twin-hull and twin-propeller USV was established. Based on the Visual Studio development platform, the USV’s berthing manipulation simulation software was designed. Through the turning simulation experiment of the catamaran USV under different differential rotation speeds of the twin propellers, the relationship between the ship’s turning radius and the propeller speed difference was obtained. A simulation experiment of decelerating and stopping ships at different speeds was carried out, which can provide a reference for speed control when berthing. A berthing maneuvering algorithm based on ship maneuverability was proposed. USV’s berthing algorithm includes three stages: approach process, turning process, and berthing process. In the approach process, the appropriate approach speed was select according to the rotation angle. In the turning process, the right and left propeller speed differences were select. In the berthing process, the berthing speed was controlled according to the berthing distance. In the port environment, a berthing simulation experiment for catamaran USV was carried out. The simulation results show that based on the berthing and maneuvering algorithm, the efficiency and safety of catamaran USV berthing can be improved.https://www.mdpi.com/2077-1312/9/3/289berthing manipulationcatamaran unmanned surface vehiclemathematical modelship maneuverability |
| spellingShingle | Gongxing Wu Mingyuan Zhao Yu Cong ZhiWen Hu Guofu Li Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability Journal of Marine Science and Engineering berthing manipulation catamaran unmanned surface vehicle mathematical model ship maneuverability |
| title | Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability |
| title_full | Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability |
| title_fullStr | Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability |
| title_full_unstemmed | Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability |
| title_short | Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability |
| title_sort | algorithm of berthing and maneuvering for catamaran unmanned surface vehicle based on ship maneuverability |
| topic | berthing manipulation catamaran unmanned surface vehicle mathematical model ship maneuverability |
| url | https://www.mdpi.com/2077-1312/9/3/289 |
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