Development of an Automatic Berthing System Adapted to Navigator's Skill

This paper proposes an automatic berthing system that performs berthing according to the skill of the operator. To make a maneuvering plan according to the navigator's skill, AIS data on the maneuvering method of berthing in actual seas was analyzed, and three maneuvering plans were derived. The proposed system uses a deep neural network as a controller to execute the ship berthing. Simulation experiments show the effectiveness of the proposed system.