Research on a Support System for Ship's Berthing Maneuvering Using Optimal and Neural Network Theory

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In this research, the authors succeeded the following developments and experiments :1. To formulate minimum time maneuvering of ships as two points boundary value problem in theory of variance and gain the numerical solutions using Conjugate Gradient Restoration Algorithm2. To gain approximate interpolation solution for maneuvering case without optimal solution, using a neural network theory3. To develop a high precision ship's position system using a kinematic GPS and Kalman Filtering theory in Tateyama in Tokyo Bay4. To develop full automatic berthing system for controlling the rudder, controllable pitch propeller, bow and stern thrusters in Shioji Maru5. To develop the following systems with three phases and execute the actual experiments :(1) PHASE 1 without supporting system for tracing the optimal solutions,(2) PHASE 2 with permitting small manual operation in the case of dangerous situation(3) PHASE3 with complete stand alone system to realize an automatic and safe berthing maneuvering system considering the minimum time optimal solutions.6 To develop a visual simulator for preliminary experiments and verification of the actual sea trials in Tateyama and Tokyo Port using Shioji Maru.