Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on ship operators and preventing accidents, several researches have been conducted on trajectory planning to automate berthing/unberthing. However, few studies have aimed at assisting captains in berthing/unberthing. The trajectory to be presented to the captain should be a maneuver that reproduces human captain's control characteristics. The previously proposed methods cannot explicitly reflect the motion and navigation, which human captains pay particular attention to reduce the mental burden in the trajectory planning. Herein, mild constraints to the trajectory planning method are introduced. The constraints impose certain states (position, bow heading angle, ship speed, and yaw angular velocity), to be taken approximately at any given time. The introduction of this new constraint allows imposing careful trajectory planning (e.g., in-situ turns at zero speed or a pause for safety before going astern), as if performed by a human during berthing/unberthing. The algorithm proposed herein was used to optimize the berthing/unberthing trajectories for a large car ferry. The results show that this method can generate the quantitatively equivalent trajectory recorded in the actual berthing/unberthing maneuver performed by a human captain.

翻译：在船舶操纵中，靠离泊操作是船长面临的最具挑战性和压力最大的阶段之一。为了减轻船舶操作员的负担并防止事故，已有若干研究针对靠离泊自动化的轨迹规划展开。然而，旨在辅助船长进行靠离泊的研究较少。向船长呈现的轨迹应能复现人类船长的控制特性。先前提出的方法无法明确反映人类船长在轨迹规划中为减轻心理负担而特别关注的运动与航行要素。为此，本文引入轨迹规划方法的软约束条件。这些约束要求在某些给定时刻近似达到特定状态（位置、船艏向角、船速及偏航角速度）。引入这一新约束使得能够施加如同人类在靠离泊过程中执行的精细轨迹规划（例如零速度原地转向或倒车前暂停以确保安全）。本文提出的算法被用于优化一艘大型车客渡船的靠离泊轨迹。结果表明，该方法能生成与人类船长实际靠离泊操纵记录中定量等效的轨迹。