Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels

• Published in: Simulation Modelling Practice and Theory
• Main Authors: Kristiansen, Raymond, Ørke, Henning, Gravdahl, Jan Tommy
• Format: Article in Journal/Newspaper
• Language: English
• Published: Elsevier 2023
• Subjects: Narvik
• Online Access: https://hdl.handle.net/10037/32026; https://doi.org/10.1016/j.simpat.2023.102866

In this paper, we address modelling and simulation of dynamics involved in docking of large marine vessels with aid of tugboats, with the aim of providing a tool for improved design of control algorithms for autonomous docking operations. Mathematical models of the docking vessel and tugboats in 3DO...