쓰러스터를 이용한 선박 접이안을 위한 자동운항 시스템에 관한 연구

Abstract

Recently, owning to the Global Positioning System and the satellite communication system, various auto-navigation systems of ship have been developed. For safer arrival and departure of ship in a harbor, auto-berthing and auto-de-berthing functions of auto-navigation system of ship are essential. In this study, the auto-berthing and auto-de-berthing algorithm, that includes crabbing motion and standstill turning motion using bow thruster and stern thruster, has been designed. Additionally, a target auto-tracking algorithm has also been designed so that ship can depart from one harbor and arrive at the next harbor safely and automatically. To evaluate the performance of the developed algorithms, the model test was carried out in a model of harbor in a lake, using the model of ship, where bow thruster and stern thruster was installed.