Research on autonomous berthing control of MASS based on real time kinematic

Technologies for autonomous navigation of MASS (Maritime Autonomous Surface Ship) in open waters are advancing rapidly. However, the autonomous berthing technology, which represents the final phase of MASS achieving fully autonomous navigation, is still in the process of maturing. Consequently, the study of autonomous berthing control technology holds significant practical importance for the realization of fully autonomous navigation in MASS. This paper proposes an autonomous berthing control program for MASS, based on a MFAC (Model Free Adaptive Control) algorithm that integrates control technology and perception technology. The program encompasses the design of both the berthing logic algorithm and control algorithm. For the controllers, the Preview Deviation Yaw Control System and Speed Control System are designed using the CFDL-MFAC (Compact Form Dynamic Linearization based MFAC) algorithm. The RTK (Real Time Kinematic) data are utilized as inputs for the controller. The experiments are conducted in Lingshui Bay, Dalian, China. The results demonstrate that the lateral distance between the vessel's midship and the berth is less than 1.5 times the vessel's breadth, and the approaching angle is within the range of 0 degrees to 10 degrees, which shows that the proposed program could effectively help vessels achieve desirable berthing states.