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Found 11 papers, 0 papers with code
A Practical and Online Trajectory Planner for Autonomous Ships' Berthing, Incorporating Speed Control
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention.
Parameter fine-tuning method for MMG model using real-scale ship data
The results show that, in all cases, the accuracy of the maneuvering simulation is improved by applying the tuned parameters to the MMG model, and the validity of the proposed parameter fine-tuning method is confirmed.
Nonlinear steering control under input magnitude and rate constraints with exponential convergence
To derive this system, hyperbolic tangent ($\tanh$) function and auxiliary variables are introduced to deal with the input constraints.
Data Augmentation Methods of Parameter Identification of a Dynamic Model for Harbor Maneuvers
In this paper, we improve the generalization performance of the dynamic model for the automatic berthing and unberthing controller by introducing data augmentation.
Covariance Matrix Adaptation Evolutionary Strategy with Worst-Case Ranking Approximation for Min--Max Optimization and its Application to Berthing Control Tasks
In this study, we consider a continuous min--max optimization problem $\min_{x \in \mathbb{X} \max_{y \in \mathbb{Y}}}f(x, y)$ whose objective function is a black-box.
Experimental Low-speed Positioning System with VecTwin Rudder for Automatic Docking (Berthing)
It is designed upon an assumption that the forces due to the interaction between the rudders, the propeller, and the hull are linear with the rudder angles within a range around the hover rudder angle.
Collision probability reduction method for tracking control in automatic docking / berthing using reinforcement learning
This paper proposes a training method based on reinforcement learning for a trajectory tracking controller that reduces the probability of collisions with static obstacles.
Warm-started Semionline Trajectory Planner for Ship's Automatic Docking (Berthing)
This article demonstrates that the balance between the feasibility of the reference trajectory and the computational time can be achieved for an underactuated vessel in a disturbed and restricted environment.
System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES
The main contributions of this study are as follows: (i) construct the system-based mathematical model on berthing by optimizing system parameters with a reduced amount of model tests than the CMT-based scheme; (ii) Find the favorable choice of objective function and type of training data for optimization.
On Neural Network Identification for Low-Speed Ship Maneuvering Model
A new system identification method for generating a low-speed maneuvering model using recurrent neural networks (RNNs) and free running model tests is proposed in this study.
Saddle Point Optimization with Approximate Minimization Oracle and its Application to Robust Berthing Control
We propose an approach to saddle point optimization relying only on oracles that solve minimization problems approximately.
