A ship's minimum-time maneuvering system using neural networks

In this paper a ship's minimum-time maneuvering system using neural networks is proposed. In the proposed method, the neural networks are used both for interpolating the pre-computed minimum-time solution for the real-time situation and for compensating the control error caused by some modeling errors, disturbances etc. In order to investigate the effectiveness of the proposed method, computer simulations and actual sea tests are carried out using a training ship Shioji Maru.