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Automatic docking with extended dynamic positioning.

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Title: Automatic docking with extended dynamic positioning.
Authors: Larsen, Stefan1,2 (AUTHOR) stefan.larsen@inria.fr, Helgesen, Håkon Hagen1,2 (AUTHOR), Walmsness, Jens Emil1,2 (AUTHOR), Kufoalor, Giorgio Kwame Minde2 (AUTHOR), Johansen, Tor Arne1 (AUTHOR)
Source: Journal of Marine Science & Technology. Dec2024, Vol. 29 Issue 4, p770-788. 19p.
Subjects: Dynamic positioning systems, Industrial controls manufacturing, Ocean waves, Ocean currents, Position sensors
Abstract: This article presents an automatic docking method suitable for fully actuated surface vessels for the purposes of assisting operators of maritime vessels when docking in time-varying environmental conditions. Docking of ships is a particularly stressful task for human operators, with high demands for both speed and precision, especially under influence from environmental disturbances such as wind, waves and ocean currents. The need for automatic docking systems is increasing as unmanned maritime vessels become more advanced and integrated into global maritime transportation. To address this task, a comprehensive automatic docking algorithm was developed, with path following and velocity control using a modified dynamic positioning control system, which makes the method applicable in existing industrial control systems. In addition, the method includes capability analysis of the docking procedure and evaluates strategies for counteracting disturbances. Specifically, this method utilizes a modified dynamic positioning control system using position sensor data only, to control position, heading and velocity in different stages when docking automatically. The methods are proven in simulations and field experiments. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Marine Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
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  Data: <searchLink fieldCode="AR" term="%22Larsen%2C+Stefan%22">Larsen, Stefan</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> stefan.larsen@inria.fr</i><br /><searchLink fieldCode="AR" term="%22Helgesen%2C+Håkon+Hagen%22">Helgesen, Håkon Hagen</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Walmsness%2C+Jens+Emil%22">Walmsness, Jens Emil</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Kufoalor%2C+Giorgio+Kwame+Minde%22">Kufoalor, Giorgio Kwame Minde</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Johansen%2C+Tor+Arne%22">Johansen, Tor Arne</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="DE" term="%22Dynamic+positioning+systems%22">Dynamic positioning systems</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+controls+manufacturing%22">Industrial controls manufacturing</searchLink><br /><searchLink fieldCode="DE" term="%22Ocean+waves%22">Ocean waves</searchLink><br /><searchLink fieldCode="DE" term="%22Ocean+currents%22">Ocean currents</searchLink><br /><searchLink fieldCode="DE" term="%22Position+sensors%22">Position sensors</searchLink>
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  Data: This article presents an automatic docking method suitable for fully actuated surface vessels for the purposes of assisting operators of maritime vessels when docking in time-varying environmental conditions. Docking of ships is a particularly stressful task for human operators, with high demands for both speed and precision, especially under influence from environmental disturbances such as wind, waves and ocean currents. The need for automatic docking systems is increasing as unmanned maritime vessels become more advanced and integrated into global maritime transportation. To address this task, a comprehensive automatic docking algorithm was developed, with path following and velocity control using a modified dynamic positioning control system, which makes the method applicable in existing industrial control systems. In addition, the method includes capability analysis of the docking procedure and evaluates strategies for counteracting disturbances. Specifically, this method utilizes a modified dynamic positioning control system using position sensor data only, to control position, heading and velocity in different stages when docking automatically. The methods are proven in simulations and field experiments. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Journal of Marine Science & Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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      – Type: doi
        Value: 10.1007/s00773-024-01018-y
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      – Code: eng
        Text: English
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        PageCount: 19
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      – SubjectFull: Dynamic positioning systems
        Type: general
      – SubjectFull: Industrial controls manufacturing
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      – SubjectFull: Ocean waves
        Type: general
      – SubjectFull: Ocean currents
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      – SubjectFull: Position sensors
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            – D: 01
              M: 12
              Text: Dec2024
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              Y: 2024
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