no code implementations • 19 Dec 2022 • Dimas M. Rachman, Yusuke Aoki, Yoshiki Miyauchi, Naoya Umeda, Atsuo Maki
It is designed upon an assumption that the forces due to the interaction between the rudders, the propeller, and the hull are linear with the rudder angles within a range around the hover rudder angle.
no code implementations • 13 Dec 2022 • Kouki Wakita, Youhei Akimoto, Dimas M. Rachman, Yoshiki Miyauchi, Umeda Naoya, Atsuo Maki
This paper proposes a training method based on reinforcement learning for a trajectory tracking controller that reduces the probability of collisions with static obstacles.
no code implementations • 22 Dec 2021 • Dimas M. Rachman, Atsuo Maki, Yoshiki Miyauchi, Naoya Umeda
This article demonstrates that the balance between the feasibility of the reference trajectory and the computational time can be achieved for an underactuated vessel in a disturbed and restricted environment.
no code implementations • 11 Nov 2021 • Yoshiki Miyauchi, Atsuo Maki, Naoya Umeda, Dimas M. Rachman, Youhei Akimoto
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.
no code implementations • 11 Nov 2021 • Kouki Wakita, Atsuo Maki, Umeda Naoya, Yoshiki Miyauchi, Tohga Shimoji, Dimas M. Rachman, Youhei Akimoto
A new system identification method for generating a low-speed maneuvering model using recurrent neural networks (RNNs) and free running model tests is proposed in this study.
