Zu-Yuan Liu

Energy–Time Co-Optimization for Autonomous Ship Berthing in Complex Ocean Currents Using an Improved hp-Pseudospectral Optimal Method

Berthing path planning for ships in the presence of ocean currents is a challenging task. Several relevant methods have been proposed, but they all assume a constant surge velocity for the whole path. This hypothesis makes it impossible to achieve the simultaneous optimization of speed and energy consumption. To deal w...