Study of dynamic multi-objective thrust allocation for automatic ship berthing based on DNSGAII

This article presents a dynamic propulsion allocation strategy for automated ship berthing based on the dynamic nondominated sorting genetic II (DNSGAII) algorithm. Employing the DNSGAII algorithm conserves energy and minimizes the computational load required for optimization. Furthermore, it ensures precise tracking of the berthing trajectory. The method involves a detailed assessment of ship propulsion characteristics and thruster properties, integrating various DNSGAII algorithm variants, and considering practical physical constraints and dynamic multi-objective functions. The effectiveness and practicality of the proposed approach are validated through ship simulation experiments.