A Study on Automatic Ship Berthing Using Parallel Neural Controller

DOI Web Site 被引用文献1件 参考文献9件
  • IM Namkyun
    Dept.of Naval Architecture and Ocean Engineering, Osaka University
  • HASEGAWA Kazuhiko
    Dept.of Naval Architecture and Ocean Engineering, Osaka University

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タイトル別名
  • A Srudy on Automatic Ship Berthing Using Parallel Neural Controller
  • Study on Automatic Ship Berthing Using Parallel Neural Controller

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In this paper a parallel neural controller for the automatic berthing will be discussed. This controller has separated hidden layer that outputs the engine and rudder respectively. A general neural network that used in berthing just has one set of hidden layer, but authors proposed parallel hidden layer. The effect of this parallel control produced good results in comparison with conventional neural controller. Furthermore many simulations conducted in this paper have different initial situations with the teaching data. In other words, starting parameters such as heading angle, ship's positions, are not same with the teaching data. But they produced successful results. Finally some simulations are conducted under slight disturbance conditions such as wind conditions and current conditions.

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