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，靠离泊作业是船长面临的最具挑战性和高压力阶段之一。为减轻船舶操作员负担并预防事故，已有诸多研究聚焦于自动化靠离泊的轨迹规划。然而，旨在辅助船长完成靠离泊的研究尚显不足。向船长呈现的轨迹应能复现人类船长的操控特性。现有方法无法在轨迹规划中明确体现人类船长特别关注以降低心理负荷的运动与导航要素。本文引入对轨迹规划方法的温和约束，要求特定状态量（位置、船艏向角、船速及偏航角速度）在任意给定时刻近似成立。这一新约束的引入使得能够施加类似人类在靠离泊过程中的周密轨迹规划（例如零速原地转向或倒航前安全停顿）。本文提出的算法被用于优化大型汽车渡轮的靠离泊轨迹。结果表明，该方法能够生成与人类船长实际靠离泊操纵记录在数量上等效的轨迹。