基于CMA-ES的船舶自动靠泊操纵模型系统参数研究
System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES
摘要：
精确的机动估计是建立自主靠泊控制的必要条件。基于系统的数学模型被广泛用于估计船舶的操纵。通常，数学模型的系统参数是通过捕获模型试验（CMT）获得的，这是耗时的，以建立一个精确的模型，适合复杂的靠泊操纵。系统辨识（SI）是构造数学模型的替代方法。然而，船舶操纵运动数学模型的仿真研究仅限于简单得多的转向和之字形运动。因此，本研究探讨船舶靠泊操纵的数学模型。本研究的主要贡献如下：（i）通过优化系统参数构建基于系统的靠泊数学模型，与基于CMT的方案相比，减少了模型测试的数量;（ii）找到了优化的目标函数和训练数据类型的有利选择。全局优化方案CMA-ES从自由运行模型的轨迹探索MMG模型的系统参数。利用该方法得到的参数进行的靠泊模拟结果表明，该方法得到的参数比CMT得到的参数与自由航行模型试验结果吻合得更好。此外，所提出的方法需要更少的数据量比基于CMT的计划。
英文摘要：
Accurate maneuvering estimation is essential to establish autonomous berthing control. The system-based mathematical model is widely used to estimate the ship's maneuver. Commonly, the system parameters of the mathematical model are obtained by the captive model test (CMT), which is time-consuming to construct an accurate model suitable for complex berthing maneuvers. System identification (SI) is an alternative to constructing the mathematical model. However, SI on the mathematical model of ship's maneuver has been only conducted on much simpler maneuver: turning and zig-zag. Therefore, this study investigates the SI on a mathematical model capable of berthing maneuver. The main contributions of this study are as follows: (i) construct the system-based mathematical model on berthing by optimizing system parameters with a reduced amount of model tests than the CMT-based scheme; (ii) Find the favorable choice of objective function and type of training data for optimization. Global optimization scheme CMA-ES explored the system parameters of the MMG model from the free-running model's trajectories. The berthing simulation with the parameters obtained by the proposed method showed better agreement with the free-running model test than parameters obtained by the CMT. Furthermore, the proposed method required fewer data amounts than a CMT-based scheme.
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