Automatic Berthing Control of Ship Using Adaptive Neural Networks

Nguyen, Phung-Hung; Jung, Yun-Chul

Journal of Navigation and Port Research 2007;31(7):563-568.
Published online September 30, 2007.

Automatic Berthing Control of Ship Using Adaptive Neural Networks

Abstract

In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented The neural network controller is trained online using adaptive interaction technique without any teaching data and off- line training phase. Firstly , the neural networks used to control rudder and propeller during automatic berthing process are presented. Secondly, computer simulations of automatic ship berthing are carried out in Pusan bay to verify the proposed controller under the influence of wind disturbance and measurement noise. The results of simulation show good performance of the developed berthing control system.

Key Words: Adaptive neural networks;Berthing control;Berthing guidance algorithm;Off-track distance