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Tomasz Neumann
 

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TransNav, Faculty of Navigation
Gdynia Maritime University
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An Application of ANN to Automatic Ship Berthing Using Selective Controller
1 Mokpo National Maritime University, Mokpo, South Korea
2 Pusan National University, Pusan, South Korea
ABSTRACT: This paper deals with ANN(Artificial Neural Networks) and its application to automatic ship berthing. As ship motions are expressed by a multi-term non-linear model, it is very difficult to find optimal methods for automatic ship berthing. When a ship makes its berthing operation, the ship's inertia and slow motion make the ship approach to final berthing point with pre-determined navigation pattern. If the ship is out of the pre-determined navigation pattern, the berthing usually end in failure. It has been known that the automatic control for ship's berthing cannot cope with various berthing situations such as various port shape and approaching directions. For these reasons, the study on automatic berthing using ANN usually have been carried out based on one port shape and predetermined approaching direction. In this paper, new algorithm with ANN controller was suggested to cope with these problems. Under newly suggested algorithm, the controller can select different weight on the link of neural networks according to various situations, so the ship can maintain stable berthing operation even in different situations. Numerical simulations are carried out with this control system to find its improvement.
REFERENCES
Koyama T. and Jin Y., “A systematic study on automatic berthing control (1st report),” Journal of the Society of Naval Architects of Japan, vol. 162, pp. 201, 1987.
Yamato H., “Automatic Berthing by the Neural controller,” Proc. Of Ninth Ship control Systems Symposuium, vol. 3, pp. 183-201, May, 1990.
Hasegawa K. and Kitera K., “Mathematical Model of Manoeuverability at Low Advance Speed and its Appli-cation to Berthing Control,” Iproc. Of The 2nd Japan-Korea Joint Workship of ship and Marine Hydrodynamics, Osaka, Japan, 1993.
Namkyun IM. and Hasegawa K., “A study on Automatic Ship Berthing Using Parallel Neural Controller(2nd Report),” The Journal of Kansai Societiy of naval Architects of Japan, vol. 237, pp. 127-132, Mar. 2002.
Choi Yong-woon et al, “Real-time Detection Techique of the Target in a berth for automatic ship berthing,” Journal of Control, Automation and System Engineering Vol, 12 No. 5 May, 2006, pp. 431-437.
MMG, “MMG Report 1-4”, Bulletin of the Society of Naval Acchitects of Japan, No. 575, 1977
Citation note:
Im N., Lee S.K., Hyung D.B.: An Application of ANN to Automatic Ship Berthing Using Selective Controller. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 1, No. 1, pp. 101-105, 2007

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