Autonomous Marine Docking Using Harbor Track Setpoint Control
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Solution Overview
Problem
Current technologies lack an efficient and reliable method for autonomous marine vessel maneuvering, particularly for safe and precise docking and undocking processes.
Innovation Solution
A computer-implemented method and apparatus for autonomous marine vessel docking, which includes determining transit and docking control modes based on route plan and harbor track data, using sensors for location and heading information, and controlling thrusters through a closed-loop controller to align the vessel with dynamic setpoints, enabling precise navigation and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If autonomous docking control mode is implemented, then docking precision and safety are improved, but system complexity increases
Solution Approach 1:
The autonomous docking system is segmented into distinct operational modes (transit control mode and autonomous docking control mode) with clear transition criteria. This segmentation allows the complex docking task to be divided into manageable phases, each with specific control algorithms and sensor requirements, thereby improving docking precision while making the overall system complexity more controllable through modular design.
Solution Approach 2:
The system performs preliminary actions by pre-defining approach zone information including location area, maximum vessel speed, and maximum heading deviation before actual docking occurs. This preliminary configuration allows the vessel to prepare for docking in advance, ensuring precise alignment and speed control while simplifying the real-time control complexity through pre-calculated parameters.
2Measurement precision
If dynamic setpoint control with closed loop controller is used, then vessel positioning accuracy is improved, but control algorithm complexity increases
Solution Approach 1:
The closed loop controller continuously monitors vessel position, speed, and heading, comparing actual values against dynamic setpoints derived from harbor track data. This feedback mechanism maintains high positioning accuracy by constantly adjusting control inputs based on measured deviations, while the systematic feedback structure keeps algorithm complexity manageable through established control theory frameworks.
Solution Approach 2:
The system employs dynamic setpoints for position, speed, and heading that change continuously based on the vessel's location along the harbor track. This dynamic adaptation allows the control system to maintain optimal positioning accuracy throughout the docking maneuver, with the setpoints being interpolated between waypoints to provide smooth, continuous guidance while avoiding the need for complex discontinuous control switches.
3Reliability
If mode transition criteria are strictly enforced, then docking safety is improved, but operational time increases
Solution Approach 1:
The system performs preliminary assessments of transition criteria (location, speed, heading) before mode transitions occur. By pre-evaluating whether the vessel meets the requirements for switching from transit to autonomous docking mode, the system ensures safety is maintained while minimizing unnecessary delays. The criteria are checked systematically but efficiently, allowing rapid decision-making on mode transitions.
Solution Approach 2:
The transition between control modes is achieved by changing key operational parameters (control mode flag, setpoint generation method, thruster control strategy) rather than through complex procedural changes. This parameter-based approach maintains docking safety through strict criterion enforcement while reducing docking time by enabling smooth, rapid transitions between well-defined operational states with clearly specified parameter sets.
Data Source
AI summary
Apparatus and computer-implemented method for autonomous marine vessel docking, the method including determining a transit control mode associated with route plan data defining transit operation between ports; determining an autonomous docking control mode associated with harbor track data including a set of waypoint properties and defining approach zone information and track segments joined at waypoints. Method further includes determining vessel location, speed and heading; comparing the vessel location, speed and heading to the approach zone information and changing from the transit control mode to the autonomous docking control mode in response to: the vessel location included by the location area information; the vessel speed being lower than the maximum vessel speed for entering the approach zone; and the vessel heading matching criteria defined by the maximum heading deviation for entering the approach zone.