An intelligent assistance system and a method for berthing and unberthing based on multi-tugboat collaboration are provided. The system includes an upper-level controller, a lower-level controller and a physical layer hardware module, the upper-level controller is used to process obtained ship data based on MPC algorithm, to obtain expected ship position, expected ship velocity, and environmental resistance information, and to process them based on the cost function to obtain expected trajectory and power of the tugboat; the lower-level controller communicates and connects with the upper-level controller to receive the upper-level controller, processes the expected trajectory, power, and environmental resistance information of the sent tugboat based on MPC algorithm to obtain working mode selection information, and receives control instructions sent by the upper-level controller and obtains propeller data information; the physical layer hardware module communicates with the lower-level controller to receive propeller data information and perform berthing and unberthing operations.
Intelligent assistance system and method for berthing and unberthing based on multi-tugboat collaboration
2024-09-17
Patent
Electronic Resource
English
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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