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

Number of Access:271（2025-08-13 22:21 Counts）

Identifier to cite or link to this item: https://hdl.handle.net/11094/100331

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Title
A practical and online trajectory planner for autonomous ships’ berthing, incorporating speed control
Creator
CreatorName
Mwange, N. Agnes
CreatorName
Rachman, M. Dimas
CreatorName
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
CreatorName
Maki, Atsuo
Subject
Autonomous berthing
Practical trajectory planning
Direct multiple shooting
Berth approach speed
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.
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.
Publisher
Springer Science and Business Media LLC
Source Title
Journal of Marine Science and Technology
Date of Issued
2025-01-22
Language
English
Handle URL
https://hdl.handle.net/11094/100331
PISSN
09484280
eISSN
14378213
Relation.isIdenticalTo
DOI (Publisher Version)
https://doi.org/10.1007/s00773-025-01048-0
Access Rights
open access
CopyRight
This article is licensed under a Creative Commons Attribution 4.0 International License.
oaire:version
Version of Record
Category
学術雑誌論文 Journal Article