船の自動離着淺のシステム的考察 : 第1報

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Automatic berthing control, one of the most difficult problems in automatic maneuvering, is studied from the point of view of automatic harbor maneuvering system design. An architecture of automatic berthing control system is proposed and some computer simulation results are presented in this report. The automatic berthing control system is designed to consist of a knowledge-base and four subsystems, i. e. planning, plan executing, knowledge management and berthing control. The knowledge-base shared by all subsystems contains production-rules of which most are acquired from experienced shipmasters and pilots and circumstance dependent parameters. The planning subsystem, which is composed of an inference engine and a working memory, provides appro-priate berthing plan based on the given environment information and the knowledge-base. The knowledge management subsystem is mainly used for knowledge acquistition in the development stage of the system and it is also used to adjust control parameters in real control process. The maneuvering control is completed by the plan executing subsystem and the berthing control subsystem while the former leads the ship from a place in the harbor to the place near the berth and the later from the place to the berth. The safety evaluation is simplified because of the decomposition of the total system. The algorithm of an optimal regulator combined with a Kalman filter is adopted for berthing control in the berthing subsystem and a criterion function to assure berthing safety is proposed. The computer simulation results show that the algorithm is suitable for the problem.
社団法人日本船舶海洋工学会の論文

船の自動離着淺のシステム的考察 : 第1報

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