A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control

Mwange, N. Agnes; Rachman, M. Dimas; Suyama, Rin; Maki, Atsuo

doi:https://doi.org/10.1007/s00773-025-01048-0

A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control

Mwange, N. Agnes; Rachman, M. Dimas; Suyama, Rin et al.

Journal of Marine Science and Technology, 2025

アクセス数:262件（2025-07-27 15:42 集計）

固定URL: https://hdl.handle.net/11094/100331

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タイトル	A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control
著者	著者名 Mwange, N. Agnes
	著者名 Rachman, M. Dimas
	著者名 Suyama, Rin
	NRID 1000050556496 1000050556496 ORCID 0000-0002-2819-1297 0000-0002-2819-1297 researchmap permalink atsuo_maki atsuo_maki Scopus Author ID 24503751100 24503751100 著者名 Maki, Atsuo
キーワード等	Autonomous berthing
	Practical trajectory planning
	Direct multiple shooting
	Berth approach speed
内容	The version of record of this article, first published in Journal of Marine Science and Technology, is available online at Publisher’s website: https://doi.org/10.1007/s00773-025-01048-0.
抄録	Autonomous ships are designed and equipped to perceive their internal and external environments and subsequently take appropriate actions based on predefined objective(s) without human intervention. Consequently, trajectory-planning algorithms for autonomous berthing must consider factors such as system dynamics, ship actuators, environmental disturbances, and operational safety. In this study, trajectory planning for an autonomous ship was modeled as an optimal control problem (OCP), which was transcribed into a nonlinear programming problem (NLP) using direct multiple shooting. To enhance berthing safety, wind disturbances, speed control guidelines, actuator limitations, and collision avoidance features were incorporated as constraints in the NLP, which was then solved using the sequential quadratic programming (SQP) algorithm in MATLAB. Finally, the performance of the proposed planner was evaluated through (i) comparison with an existing method, (ii) trajectory planning for different harbor entry and berth approach scenarios, and (iii) a feasibility study using predefined as well as stochastically generated initial conditions. The simulation results indicate improved berthing safety as well as practical and computational feasibility.
出版者	Springer Science and Business Media LLC
収録物名	Journal of Marine Science and Technology
刊行年月	2025-01-22
言語	英語
ハンドルURL	https://hdl.handle.net/11094/100331
PISSN	09484280
eISSN	14378213
関連情報 (isIdenticalTo)	DOI (出版社版) https://doi.org/10.1007/s00773-025-01048-0
アクセス権	open access
権利情報	This article is licensed under a Creative Commons Attribution 4.0 International License.
出版タイプ	Version of Record
カテゴリ	学術雑誌論文 Journal Article

資源タイプ	学術雑誌論文
ローカル資源タイプ	学術雑誌論文
DCTERMS.bibliographicCitation	Journal of Marine Science and Technology. 2025
DC.title	A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control
DC.creator	Mwange, N. Agnes
	Rachman, M. Dimas
	Suyama, Rin
	Maki, Atsuo
DC.publisher	Springer Science and Business Media LLC
DC.language' scheme='DCTERMS.RFC1766	英語
DCTERMS.issued' scheme='DCTERMS.W3CDTF	2025-01-22
DC.identifier	https://doi.org/10.1007/s00773-025-01048-0
DC.subject	Autonomous berthing
	Practical trajectory planning
	Direct multiple shooting
	Berth approach speed
DC.description	The version of record of this article, first published in Journal of Marine Science and Technology, is available online at Publisher’s website: https://doi.org/10.1007/s00773-025-01048-0.
DCTERMS.abstract	Autonomous ships are designed and equipped to perceive their internal and external environments and subsequently take appropriate actions based on predefined objective(s) without human intervention. Consequently, trajectory-planning algorithms for autonomous berthing must consider factors such as system dynamics, ship actuators, environmental disturbances, and operational safety. In this study, trajectory planning for an autonomous ship was modeled as an optimal control problem (OCP), which was transcribed into a nonlinear programming problem (NLP) using direct multiple shooting. To enhance berthing safety, wind disturbances, speed control guidelines, actuator limitations, and collision avoidance features were incorporated as constraints in the NLP, which was then solved using the sequential quadratic programming (SQP) algorithm in MATLAB. Finally, the performance of the proposed planner was evaluated through (i) comparison with an existing method, (ii) trajectory planning for different harbor entry and berth approach scenarios, and (iii) a feasibility study using predefined as well as stochastically generated initial conditions. The simulation results indicate improved berthing safety as well as practical and computational feasibility.
DC.rights	This article is licensed under a Creative Commons Attribution 4.0 International License.
DC.format	100331
citation_title	A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control
citation_author	Mwange, N. Agnes
	Rachman, M. Dimas
	Suyama, Rin
	Maki, Atsuo
citation_publisher	Springer Science and Business Media LLC
citation_language	英語
citation_date	2025-01-22
citation_journal_title	Journal of Marine Science and Technology
citation_doi	https://doi.org/10.1007/s00773-025-01048-0
citation_public_url	https://hdl.handle.net/11094/100331

A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control

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