Artificial Neural Network controller for automatic ship berthing: challenges and opportunities
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Artificial Neural Network controller for automatic ship berthing: challenges and opportunities Yaseen Adnan Ahmed1 · Mohammed Abdul Hannan2 · Kang Hooi Siang1 Received: 4 July 2020 / Accepted: 30 September 2020 © Sociedade Brasileira de Engenharia Naval 2020
Abstract Ship berthing is a complicated manoeuvring process that demands precise control of the speed and course of an underactuated system. As berthing involves low speed running of a ship under environmental disturbances with reduced manoeuvrability, a professional ship handler often faces difficulties in controlling heading in such a situation. To bring automation in ship berthing, most of the researchers have agreed that Artificial Neural Network (ANN) plays a vital role as it has the ability to learn from human experience and replicate similar action in an unknown situation. However, we are still far away from implementing it for real berthing control as we do not have any self-fulfilling ANN controller yet, which can treat all the major issues relevant to a complicated ship berthing operation. Based on contemporary research findings, this paper, therefore, highlights four major challenges that have to be taken into account while proposing an ANN controller for ship berthing, and a comprehensive summary of how to deal with those. The first is how to provide consistent teaching data while training ANN controller to make it more robust; second is how to make the controller universal to do berthing in any port; third is how to tackle the wind disturbances while automation in progress; and the fourth is how to align a ship to the pier, which is the final stage of berthing. Keywords Artificial Neural Network · Fuzzy logic · Ship berthing · Comprehensive study · Gust wind · Nonlinear programming
1 Introduction With technological advancement, modern ship motion control techniques are being developed with a motive to make the shipping industry safer. These controllers are specially designed to enable a ship to take an autonomous decision under critical situations where humans often hesitate or fail. While talking about simple course keeping or course changing problem, most of the ships use a conventional controller * Yaseen Adnan Ahmed [email protected] Mohammed Abdul Hannan [email protected] Kang Hooi Siang [email protected] 1
Faculty of Mechanical Engineering, Universiti Teknologi Malaysia, 81300, Skudai, Johor Bahru, Johor, Malaysia
Faculty of Science, Agriculture and Engineering, Newcastle University United Kingdom (Singapore Campus), Singapore, Singapore
2
such as PID with constant or adaptive gain. This type of controller works well under reasonable environmental disturbances. However, there are some difficult manoeuvres where the conventional controller fails to guide the ship properly. One of such manoeuvres is ship berthing. Ship berthing requires controlling of an under-actuated multi-input multioutput (MIMO) system. Considering this fact in mind, different researchers propose different strategies for automatic berthing
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