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구자윤,이철영,Koo, J. Y.,Lee, C. Y. 한국항해항만학회 1993 韓國港灣學會誌 Vol.7 No.2
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 at low speed. In this paper, the authors propose a new 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 knowledge. This controller contains the concept of safety according to channel width. The learning data are drawn from ship Handling simulator(NavSim NMS-90 MK III) and represent the ship motion characteristics internally. According to learning procedure, the FNN controller can tune membership functions and identify fuzzy control rules automatically. The verified results show that the FNN controller is effective to incorporate captain's knowledge and experience of manoeuvrability in channel.
具滋允(J.Y.Koo),李哲筞,(C.Y.Lee) 한국항해항만학회 1994 한국항해항만학회 학술대회논문집 Vol.1 No.-
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-liner characteristics at 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 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 NMS-90 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.