マルチエージェントシステムによる着桟制御

概要

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Berthing control is one of the most important phase of ship control, and its automation is desired for a long time. Some approaches for centralistic control have already proposed, but the complexity of the control process makes it almost impossible to design and implement. In the area of autonomous agent research, research for generating coherent, robust, useful, and adaptive autonomous agents is becoming increasingly active. In this paper, berthing system was modeled as a multi-agent system, which consists of multiple tugboat agents and one propeller agent. Modelling and implementation technique for Muller's three-layered autonomous agent is proposed. Implementation results show the independency of numbers of the agents in the multi-agent system produces robustness, extensiveness, flexibility of the system architecture.
社団法人日本船舶海洋工学会の論文