Motion planning for autonomous berthing considering uncertainty and controller’s characteristics

Abstract

This paper evaluates motion planning and automatic piercing control of small vessels considering uncertainty such as the position error caused by wind, waves, currents and the sensor caused by the ship’s motion. Generally when navigating at low speeds, the effects of external disturbances such as wind and waves increase, and manoeuvring the ship in consideration of these factors to avoid collisions is a very heavy load. Therefore, the demand for automatic berthing control for small vessels has increased. In the following discussion, we implement Hybrid A* Algorithm-based motion planning along with the controller characteristics and the effectiveness of the proposed motion planning is validated experimentally.