Liu, X, Hu, Z, Yang, Z and Zhang, W (2024) Graph Search-Based Path Planning for Automatic Ship Berthing. Journal of Marine Science and Engineering, 12 (6).

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Abstract

Ship berthing is one of the most challenging operations for crews, involving optimal trajectory generation and intricate harbor maneuvering at low speed. In this paper, we present a practical path-planning method that generates smooth trajectories for an underactuated surface vehicle (USV) traveling in a confined harbor environment. Our approach introduces a Generalized Voronoi Diagram (GVD)-based path planner to handle the unberthing phase. The hybrid A* search-based path finding method is used for the transportation phase. A simple planner based on a Bézier curve is proposed for the berthing phase. To track the target path, an adaptive pure pursuit method and proportional-derivative (PD) controller is used. The performance of the given method is tested numerically and experimentally on a catamaran with a pair of non-steerable thrusters. The results demonstrate that the proposed algorithm can achieve a successful berthing operation through static obstacle handling and smooth trajectory generation.

Item Type:	Article
Uncontrolled Keywords:	4015 Maritime Engineering; 40 Engineering; 0405 Oceanography; 0704 Fisheries Sciences; 0911 Maritime Engineering; 3005 Fisheries sciences; 3709 Physical geography and environmental geoscience; 4015 Maritime engineering
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions:	Engineering
Publisher:	MDPI
SWORD Depositor:	A Symplectic
Date Deposited:	25 Mar 2025 11:41
Last Modified:	25 Mar 2025 11:45
DOI or ID number:	10.3390/jmse12060933
URI:	https://researchonline.ljmu.ac.uk/id/eprint/25994

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