Optimal Energy Trajectory Planning and Control for Automatic Ship Berthing

This paper proposes an optimization method for the ship's optimal berth trajectory based on the ship dynamics. By introducing a mathematical dynamic model which helps to describe the nonlinear dynamic system of a ship, this paper attempts to solve the problem of optimal trajectory planning for ship berthing. Under the condition of system constraint, environment constraint, nonlinear constraint and non-convexity of state space equation, in order to achieve a minimum energy consumption, this paper adopts the interior penalty function method, which manages to optimize the ship berthing trajectory and obtains the optimal trajectory under the constraint condition. Finally, a container ship is taken as simulation objects, the research results show that the optimization of ship automatic berthing trajectory has high application value and reference value in both energy saving and practical life.