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A Fully Automatic Berthing Test Using the Training Ship Shioji Maru

Published online by Cambridge University Press:  21 October 2009

Kohei Ohtsu ,
Tadao Takai  and
Hideaki Yoshihisa
Kohei Ohtsu
Affiliation:
(Tokyo University of Mercantile Marine)
Tadao Takai
Affiliation:
(Hitachi Shipbuilding Co. Ltd)
Hideaki Yoshihisa
Affiliation:
(Hitachi Shipbuilding Co. Ltd)
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Abstract

In this paper, the authors discuss a fully automatic berthing system and actual tests using a small training ship, Shioji Maru. The ship is about 440 gross tonnage and furnished with a controllable pitch propeller, a bow thruster and a stern thruster to which a computer can easily be linked. The system developed is composed of an electro-optical position measuring system and the computer software necessary for manoeuvring the ship.

The electro-optical position measuring system can measure a distance between the ship and a target on a berth within 4 cm accuracy and cover an area out to about 100 m range. The manoeuvring is divided into two stages. The first one is from a start line to a transition point off the final berth. At this point, the ship must be stopped in an alongside attitude to the berth. In the second stage, the ship is pushed by the thrusters in an athwartships direction towards the berth and the final speed at the berth must be limited to within 0.5 ms. The computer software generates an appropriate strategy following an approach line which has been determined in advance.

According to the actual tests under slightly rough sea conditions, the system could manoeuvre the ship along the approach line by a direct path and maintain her final speed within the predetermined limit.

Keywords

1. Ship handling.2. Pilotage.3. Automation.
Type
Research Article
Information
The Journal of Navigation , Volume 44 , Issue 2 , May 1991 , pp. 213 - 223
Copyright
Copyright The Royal Institute of Navigation 1991

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References

REFERENCES

1Takai, T. and Ohtsu, K. (1990). Automatic berthing experiments using Shioji Maru. Journal of the Japan Institute of Navigation, vol. 83. Tokyo.Google Scholar
2Takai, T. and Yoshihisa, H. (1987). An automatic manoeuvring system in berthing. Proceedings, 18th Ship Control Symposium, vol. 2. The Hague.Google Scholar
3Ogawa, A. and Kasai, H. (1978). On the mathematical model of manoeuvring motion of ships. International Ship's Progress, vol. 25, 292.Google Scholar