Research On The Evaluation Index System Of Autonomous Ship Berthing And Unberthing Function

Shipping as an important carrier of global trade,and the shipping industry is also thriving with the rapid development of the economy.As the main tool of maritime transportation,ships are developing towards autonomy and intelligence under the background of the big data era.In order to ensure the navigation safety of autonomous ships and improve their development,it is necessary to test and verify various autonomous functions of autonomous ships,and the test verification cannot be done without reasonable and effective evaluation methods.In the field of ship motion control,berthing and unberthing is a kind of complicated maneuvering,which is difficult to maneuver and easy to happen accidents.In view of the fact that there is no research on the evaluation method of berthing and unberthing function of autonomous ships,this thesis proposes the evaluation model of berthing and unberthing function of autonomous ships based on the combined weight and fuzzy comprehensive evaluation,verifies the rationality of the model through test,and develops the measurement system of autonomous berthing function to realize convenient and efficient evaluation.The main contents of this thesis are as follows:(1)Analyze the influencing factors of the berthing and unberthing process of autonomous ships,consult the relevant conventions and regulations at home and abroad,combine the research results of experts in related fields,and select the evaluation indexes of autonomous berthing and unberthing.In order to ensure the rationality of the evaluation index system,based on the six principles of the index system construction,combined with the actual situation of autonomous berthing and unberthing,screen autonomous ship berthing and unberthing function evaluation index,so as to construct the evaluation index system of the autonomous ship berthing and unberthing function;(2)Based on the fuzzy comprehensive evaluation method,the definition of each index in the evaluation index system is determined,and the affiliation function of each index is established.Based on the combination of assignment theory,adopt the idea of disparity maximization combined with analytic hierarchy process and CRITIC method to calculate the weights,improve the unreasonableness of the weights of each index factor in the fuzzy comprehensive evaluation method,and establish an autonomous ship berthing and unberthing evaluation model,so as to make the evaluation results of the autonomous ship berthing and unberthing function more scientific;(3)Carry out autonomous berthing test of test ships,analyze the navigation data of the berthing and unberthing process,evaluate its autonomous berthing function based on the autonomous ship berthing and unberthing evaluation model proposed in this thesis,and score the autonomous berthing navigation test data.Analyze the evaluation results of subjective,objective,and combined weighting method,as so to verify the effectiveness of the autonomous ship berthing and unberthing evaluation model and provide improvement directions for the ship to improve its berthing and unberthing function;(4)Based on Python programming language,the software is developed an autonomous ship berthing and unberthing measurement system,which has the functions of selecting the terminal scene,setting the ship parameters,collecting the environment and navigation data and generating the evaluation report,etc.Through analyzing the ship navigation data by itself,the automatic evaluation of autonomous berthing and unberthing function can be realized.