Auto-Docking of Vessel

Abstract

The maritime industry have in recent years started to focus more on autonomous vessels. There is already technology like auto-crossing for ferries, and dynamic positioning for offshore vessels. One of the next steps regarding this subject is tomake the docking process autonomous.

When it comes to auto-docking of a vessel, the requirements are demanding and high precision is required. The vessel will need to be able to manoeuvre with centimeter position accuracy, for the process to become safe and comfortable. Since many vessels already have dynamic positioning systems, the simulations are based on a DP-Controller. The controller will use position and distance measurements as inputs from an observer that estimates the position. The different simulations will use one or two sensors in combination with GNSS technology, and will be benchmarked by their deviation between estimated and actual position. The simulation is carried out in Matlab and Simulink with the use of the Marine Systems Simulator toolbox. The different simulations proved that LiDAR and RTK GPS was the most accurate solution, with accuracy down to a couple of centimeters.