Proceedings of the Korean Institute of Navigation and Port Research Conference (한국항해항만학회:학술대회논문집)
- 1994.04a
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- Pages.55-67
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- 1994
On the Ship's Berthig Control by introducing the Fuzzy Neural Network
선박 접이안의 퍼지학습제어
Abstract
Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics ar low speed. In this paper the authors propose a new berthing control system which can evaluate as closely as captain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's decision-making by using the FNN(Fuzzy neural Network) controller which can simulate captain's knowledge. This berthing controller consists of the navigation subsystem FNN controller and the berthing subsystem FNN controller. The learning data are drawn from Ship Handling Simulator (NavSim NMS90 MK III) and represent the ship motion characteristics internally According to learning procedure both FNN controllers can tune membership functions and identify fuzzy control rules automatically The verified results show the FNN controllers effective to incorporate captain's knowledge and experience of berthing.
Keywords