An autonomous docking path planning algorithm for tugboats based on precise task orientation

Le résumé fourni par la source

Ports are essential for global trade, and the development of intelligent tugboats is crucial for efficient port operations. However, existing research on autonomous tugboats often overlooks the complex dynamics of docking maneuvers. This paper proposes a novel task-oriented autonomous path planning algorithm for tugboats, based on the Artificial Potential Field (APF) method. The algorithm decomposes the docking target into position, orientation, and velocity, enabling precise and efficient docking with target vessels. Through multi-scenario simulations, the algorithm demonstrates high accuracy and robustness, even in dynamic environments. This study addresses the research gap in intelligent tugboat docking and provides significant technological support for the development of intelligent ports.

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