71 citations · 251 across the 26 of their papers we have counts for
13 papers · 1 filter
Development and Identification of a Linear Low-Speed Ship Maneuvering Model from Full-Scale Data
Agnes N. Mwange, Taichi Kambara, Kouki Wakita +2
Despite significant technological progress, the realization of fully autonomous berthing and unberthing remains a significant challenge. One of the primary obstacles is the complex…
Probabilistic Prediction of Ship Maneuvering Motion using Ensemble Learning with Feedforward Neural Networks
Kouki Wakita, Youhei Akimoto, Atsuo Maki
In the field of Maritime Autonomous Surface Ships (MASS), the accurate modeling of ship maneuvering motion for harbor maneuvers is a crucial technology. Non-parametric system ident…
Quantitative Evaluation of Full-Scale Ship Maneuvering Characteristics During Berthing and Unberthing
Agnes N. Mwange, Yoshiki Miyauchi, Taichi Kambara +3
Leveraging empirical data is crucial in the development of accurate and reliable virtual models for the advancement of autonomous ship technologies and the optimization of port ope…
Perspective on the Marine Simulator for Autonomous Vessel Development
Ryouhei Sawada, Yoshiki Miyauchi, Suisei Wada +5
There is a growing demand for simulators for the research and development of maritime autonomous surface ships (MASS) and the approval of autonomous navigation algorithms. Simulato…
A Practical and Online Trajectory Planner for Autonomous Ships' Berthing, Incorporating Speed Control
Agnes Ngina Mwange, Dimas Maulana Rachman, Rin Suyama +1
Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermin…
Parameter fine-tuning method for MMG model using real-scale ship data
Rin Suyama, Rintaro Matsushita, Ryo Kakuta +2
In this paper, a fine-tuning method of the parameters in the MMG model for the real-scale ship is proposed. In the proposed method, all of the arbitrarily indicated target paramete…
Nonlinear steering control under input magnitude and rate constraints with exponential convergence
Rin Suyama, Satoshi Satoh, Atsuo Maki
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of th…
Data Augmentation Methods of Dynamic Model Identification for Harbor Maneuvers using Feedforward Neural Network
Kouki Wakita, Yoshiki Miyauchi, Youhei Akimoto +1
A dynamic model for an automatic berthing and unberthing controller has to estimate harbor maneuvers, which include berthing, unberthing, approach maneuvers to berths, and entering…
Experimental Low-speed Positioning System with VecTwin Rudder for Automatic Docking (Berthing)
Dimas M. Rachman, Yusuke Aoki, Yoshiki Miyauchi +2
A VecTwin rudder system comprises twin fishtail rudders with reaction fins to increase its performance. With a constant propeller revolution number, the vessel can execute special…
Collision probability reduction method for tracking control in automatic docking / berthing using reinforcement learning
Kouki Wakita, Youhei Akimoto, Dimas M. Rachman +3
Automation of berthing maneuvers in shipping is a pressing issue as the berthing maneuver is one of the most stressful tasks seafarers undertake. Berthing control problems are ofte…
Warm-started Semionline Trajectory Planner for Ship's Automatic Docking (Berthing)
Dimas M. Rachman, Atsuo Maki, Yoshiki Miyauchi +1
In the usual framework of control, a reference trajectory is needed as the set point for a feedback controller. This reference trajectory can be generated by solving a trajectory o…
System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES
Yoshiki Miyauchi, Atsuo Maki, Naoya Umeda +2
Accurate maneuvering estimation is essential to establish autonomous berthing control. The system-based mathematical model is widely used to estimate the ship's maneuver. Commonly,…
On Neural Network Identification for Low-Speed Ship Maneuvering Model
Kouki Wakita, Atsuo Maki, Umeda Naoya +4
Several studies on ship maneuvering models have been conducted using captive model tests or computational fluid dynamics (CFD) and physical models, such as the maneuvering modeling…