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Perspective on the Marine Simulator for Autonomous Vessel Development

Ryouhei Sawada, Yoshiki Miyauchi, Suisei Wada, Takuya Tanigushi, Satoru Hamada, Hiroaki Koike, Kouki Wakita, Atsuo Maki

TL;DR

This paper addresses the need for guidance in selecting hull dynamic models for maritime autonomous surface ships (MASS) simulators, balancing fidelity with construction cost. It classifies dynamic models into four application-focused categories and surveys historical and contemporary families, including Nomoto KT, AR, neural networks, Abkowitz, MMG, and Fossen models, emphasizing modular-type fluid-dynamics representations. The authors discuss practical methods to obtain model parameters (type-ship values, regression-based derivatives, captive tests, CFD, and system identification) and outline functional/non-functional requirements for real-time autonomous-ship simulators, berthing operations, and hardware-in-the-loop compatibility. They advocate standardization and open-source release of model structures and codes to lower barriers for developers and accelerate MASS deployment. Overall, the work provides a pragmatic framework for choosing purpose-appropriate dynamic models and for designing scalable, interoperable simulators with clear pathways to future improvements.

Abstract

There is a growing demand for simulators for the research and development of maritime autonomous surface ships (MASS) and the approval of autonomous navigation algorithms. Simulators are used for purposes such as evaluation and training and are taken on various configurations accordingly. The ship maneuvering mathematical model used in such a simulator is an important element that characterizes the simulator. In this paper, we discuss the dynamic model of the hull and its position in the simulator that will be required for MASSs in the future. It also discusses guidelines for selecting an appropriate model, which has not been discussed extensively in previous studies. Finally, we discuss the functional requirements that simulators should have.

Perspective on the Marine Simulator for Autonomous Vessel Development

TL;DR

This paper addresses the need for guidance in selecting hull dynamic models for maritime autonomous surface ships (MASS) simulators, balancing fidelity with construction cost. It classifies dynamic models into four application-focused categories and surveys historical and contemporary families, including Nomoto KT, AR, neural networks, Abkowitz, MMG, and Fossen models, emphasizing modular-type fluid-dynamics representations. The authors discuss practical methods to obtain model parameters (type-ship values, regression-based derivatives, captive tests, CFD, and system identification) and outline functional/non-functional requirements for real-time autonomous-ship simulators, berthing operations, and hardware-in-the-loop compatibility. They advocate standardization and open-source release of model structures and codes to lower barriers for developers and accelerate MASS deployment. Overall, the work provides a pragmatic framework for choosing purpose-appropriate dynamic models and for designing scalable, interoperable simulators with clear pathways to future improvements.

Abstract

There is a growing demand for simulators for the research and development of maritime autonomous surface ships (MASS) and the approval of autonomous navigation algorithms. Simulators are used for purposes such as evaluation and training and are taken on various configurations accordingly. The ship maneuvering mathematical model used in such a simulator is an important element that characterizes the simulator. In this paper, we discuss the dynamic model of the hull and its position in the simulator that will be required for MASSs in the future. It also discusses guidelines for selecting an appropriate model, which has not been discussed extensively in previous studies. Finally, we discuss the functional requirements that simulators should have.
Paper Structure (30 sections, 35 equations, 3 figures, 1 table)

This paper contains 30 sections, 35 equations, 3 figures, 1 table.

Table of Contents

  1. Introduction
  2. Notation and coordinate systems
  3. Objective of making a dynamic model
  4. Models for evaluating maneuvering characteristics during ship hull design
  5. Models for ship-handling simulator
  6. Model for algorithm development and performance validation of autonomous ships
  7. Models for embedding into model-based control laws or observers
  8. Categorization of the dynamic models and its histories
  9. Response models
  10. Nomoto's KT model Nomoto1957En and its extension
  11. Auto Regressive (AR) model
  12. Neural Network
  13. Model based on fluid dynamics
  14. Whole-ship model
  15. Modular-type model
  16. ...and 15 more sections

Figures (3)

  • Figure 1: Nominal structure of the ship maneuvering simulator
  • Figure 2: Coordinate System. The coordinate system consist by space-fixed system $O_{0}-x_{0}y_{0}$ and ship-fixed system $O-xy$. Notations $u,v_{m}$ are the velocity of $O-xy$ system; $\delta,~n_{\mathrm{p}},~n_{\mathrm{BT}},~n_{\mathrm{ST}}$ are the rudder angle, the revolution of the propeller, the bow thruster and the stern thruster; $\gamma_{T},~U_{T}$ are true wind direction and speed; $\gamma_{A},~U_{A}$ are apparent wind direction and speed.
  • Figure 3: Development environment for prototyping of automatic berthing system in sawada_dissertation