Research on Automatic Navigation System for Ships in Narrow Waterways

过去两个财年的研究旨在为狭窄和拥堵的水道中的SIP提供自动导航系统，但它涵盖了广泛的技术领域。主要内容如下：(1)对窄航道航行船舶操纵数学模型进行了拖曳水池试验研究。(2)为验证船舶低航速操纵数学模型的有效性，进行了自由航行模型试验。(3)研制了模型船的位姿和运动测量系统。开展了基于图像分析技术的拖轮自动靠泊系统的可行性研究。最后，在仿真系统中对研究结论进行了总结。利用知识-BSE专家系统、模糊逻辑和/或神经网络的自动导航系统得到了广泛的研究，并通过仿真研究证实了其良好的工作性能。

The research in the past two fiscal years was aiming at automatic navigation system, for sips in narrow and congested waterways, but it has covered wide technology areas. It will be summarized as follow.(1) The mathematica model of ship manoeuvrability for narrow waterway navigation was investigated conducting towing tank experiments.(2) Free sailing model experiments were conducted for the purpose of validating the mathematical model of ship manoeuvrability at low advanced speed.(3) Measuring system of the positon and the motion of a model ship has been developed. The system was based on image analysis technique.(4) Feasibility study on automatic berthing system using tug boats was started. It is confirmed that neural network my be applicable for this purpose.(5) Final research conclusion was summarized in a simulation system. Automatic navigation system using knowledged-bse expert system, fuzzy logics and/or neural network was widely investigated and confirmed to work well through the simulation study.