A Study on Automatic Berthing Control of an Unmanned Surface Vehicle

  • Vu, Mai The (Division of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Choi, Hyeung-Sik (Division of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Oh, Ji-Youn (Division of Mechanical Engineering, Korea Maritime and Ocean University) ;
  • Jeong, Sang-Ki (Division of Mechanical Engineering, Korea Maritime and Ocean University)
  • 투고 : 2016.10.20
  • 심사 : 2016.12.13
  • 발행 : 2016.12.31


This study examined a PD controller and its application to automatic berthing control of an unmanned surface vehicle (USV). First, a nonlinear mathematical model was established for the maneuvering of the USV in the presence of environmental forces. A PD control algorithm was then applied to control the rudder and propeller during an automatic berthing process. The algorithm consisted of two parts, namely the forward velocity control and heading angle control. The control algorithm was designed based on longitudinal and yaw dynamic models of the USV. The desired heading angle was obtained using the "line of sight" method. Finally, computer simulations of automatic USV berthing were performed to verify the proposed controller subjected to the influence of disturbance forces. The results of the simulation revealed a good performance of the developed berthing control system.



연구 과제 주관 기관 : National Research Foundation of Korea


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