000010705 001__ 10705
000010705 005__ 20240627121922.0
000010705 0247_ $$2doi$$a10.24868/10705
000010705 245__ $$aAutonomous Docking of a Feeder Vessel
000010705 269__ $$a2022-08-10
000010705 336__ $$aConference Proceedings
000010705 520__ $$aAutonomous sailing is seen as one of the possible solutions to cope with the decrease in qualified personnel, to minimise the risk to humans and ships in challenging conditions, and to decrease the environmental impact of the transport sector. Autonomous sailing is not limited to moving the vessel safely through the seas, but it also includes docking the vessel. A feeder vessel that distributes cargo spends a relative large percentage of its time on (un)docking, compared to a seafaring cargo vessel. Automating this part of the operation might save significantly on resources.

The objective of this work is to automatically approach a dock for an underactuated vessel. It comprises the design of a time-dependent trajectory, as well as a controller that can track this trajectory. The solution is tailored for our 71m long feeder vessel designed for the EU-H2020 Moses project. The focus is on approaching the dock from cruising speed until the speed of the vessel is near-zero.

The result of the study is a high-fidelity time simulation that shows the behaviour of the vessel in combination with the control system when it approaches a dock. From these simulations it can be concluded that the ship can approach the dock with only azimuthing thrusters to a speed when the bow thrusters become effective. The then fully actuated vessel might be safely docked with a dynamical positioning system.
000010705 542__ $$fCC-BY
000010705 6531_ $$aAutomatic Docking
000010705 6531_ $$aAutonomous Systems
000010705 6531_ $$aUnderactuated Control Systems
000010705 6531_ $$aTrajectory Tracking
000010705 6531_ $$aMarine Systems
000010705 7001_ $$ade Kruif, B$$uMarin
000010705 773__ $$tConference Proceedings of iSCSS
000010705 773__ $$jiSCSS 2022
000010705 85641 $$uhttps://www.imarest.org/events/category/categories/imarest-event/international-ship-control-systems-symposium-2022$$yConference website
000010705 8564_ $$939f6971f-e6a7-4ca9-a505-d84d315a6f44$$s833191$$uhttps://library.imarest.org/record/10705/files/10705.pdf
000010705 980__ $$aConference Proceedings