Modeling and Simulation of Automatic Berthing based on Bow and Stern Thruster Assist for Unmanned Surface Vehicle

Abstract

The purpose of this study is to meet the maneuverability requirements of the Unmanned Surface Vehicle (USV) in different conditions by the effective use of the bow and stern thruster, thus completing the automatic berthing task. Based on the MMG model, the maneuverability mathematical model of the USV with bow and stern thruster was established. And the motion simulation of USV maneuvering was carried out through the numerical simulation calculation. Then the berthing plan was designed basedon the maneuverability analysis of the USV low-speed motion, and the simulation of automatic berthing for USV was carried out. The research results of this paper can be of certain practical significance for the USV based on the support of the bow and stern thruster in the berthing. At the same time, it also provides a certain theoretical reference for the handling of the USV automatic berthing.