Sub-goal Generation Considered of Disturbance for Auto Berthing Based on Acquired Motion Model

Abstract

This paper describes a sub-goal generation method in consideration of disturbance for an auto berthing system. In the actual ship operation by human, the operator estimates a predicted trajectory based on an acquired motion model and generates the sub-goal considered disturbance. However, the generation method of the sub-goal for the auto berthing system has not been established. Therefore, this paper proposed the generation method based on the acquired motion model. The effectiveness of the proposed method is shown by simulation and experimental results.