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Modeling and Simulation of Automatic Berthing based on Bow and Stern Thruster Assist for Unmanned Surface Vehicle

Authors
  • Gongxing, Wu
  • Xiaolong, Zhao
  • Linling, Wang
Journal
Journal of Marine Science
Publisher
Bilingual Publishing Co
Publication Date
Apr 30, 2021
Volume
3
Issue
2
Identifiers
DOI: 10.30564/jms.v3i2.2962
Source
Bilingual Publishing
Keywords
License
Green

Abstract

In order to solve the technical problems of autonomous berthing of the Unmanned Surface Vehicle (USV), this research has met the requirements of maneuverability berthing under different conditions by effectively using the bow and stern thrusters, which is a technological breakthrough in actual production and life. Based on the MMG model, the maneuverability mathematical model of the USV with bow and stern thruster was established. And the motion simulation of USV maneuvering was carried out through the numerical simulation calculation. Then the berthing plan was designed based on the maneuverability analysis of the USV low-speed motion, and the simulation of automatic berthing for USV was carried out.The research results of this paper can be of certain practical significance for the USV based on the support of the bow and stern thruster in the berthing.At the same time, it also provides a certain theoretical reference for the handling of the USV automatic berthing.

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