Abstract
For mariners, it is very important to know the optimal maneuvering of their ships. Particularly, berthing manevering without tug boats in a harbour is difficult problem even for the experienced mariners. The mariners gain their own technique through their experiences for a long period. They always pay strong attentions to their ship's safety, economical performance and other many elements on ship handling. This paper gives mathematical unique solution to the minimum time berthing problems of a small training ship by using the optimal control theory and a robust numerical solution technique. This calculation bases on sophisticated ship's mathematical nonlinear model which can cover from high to low speed. In this paper, the berthing problem with a rudder and a CPP are treated at first. The berthing maneuvering with a rudder, a CPP and moreover bow and stern thrusters are also discussed here.
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