An Anchorage Decision Method for the Autonomous Cargo Ship Based on Multi-Level Guidance

The development of autonomous cargo ships necessitates reliable anchoring operations, a critical challenge due to low-speed maneuverability issues and anchorage disturbances. This paper addresses the challenges of reduced maneuverability at low speeds and susceptibility to anchorage disturbances in autonomous cargo ships, conducting research on anchoring decision-making methods. The process was systematically analyzed. Safety anchorage areas were quantified using ship parameters and environmental data. An available anchor position identification method based on grid theory, combined with an anchorage allocation mechanism to derive optimal anchorage selection. The development of a multi-level guided anchoring trajectory planning algorithm was informed by practical anchoring. This algorithm was designed to facilitate the scientific calculation of turning and stopping guidance points, with the objective of guiding cargo ship to navigate towards the anchorage in a predetermined attitude. An integrated autonomous anchoring system was constructed, encompassing perception, decision-making, planning, and control. Digital simulations verified the system's effectiveness and robustness under complex sea conditions. This study provides a theoretical foundation and feasible technical approach for enhancing the autonomous decision-making and safety control capabilities of intelligent ships during anchoring operations.