Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on ship operators and preventing accidents, several researches have been conducted on trajectory planning to automate berthing/unberthing. However, few studies have aimed at assisting captains in berthing/unberthing. The trajectory to be presented to the captain should be a maneuver that reproduces human captain's control characteristics. The previously proposed methods cannot explicitly reflect the motion and navigation, which human captains pay particular attention to reduce the mental burden in the trajectory planning. Herein, mild constraints to the trajectory planning method are introduced. The constraints impose certain states (position, bow heading angle, ship speed, and yaw angular velocity), to be taken approximately at any given time. The introduction of this new constraint allows imposing careful trajectory planning (e.g., in-situ turns at zero speed or a pause for safety before going astern), as if performed by a human during berthing/unberthing. The algorithm proposed herein was used to optimize the berthing/unberthing trajectories for a large car ferry. The results show that this method can generate the quantitatively equivalent trajectory recorded in the actual berthing/unberthing maneuver performed by a human captain.

翻译：在船舶操作中,泊位/越野操作是船长最困难和最紧张的阶段之一。关于减少船舶操作员的负担和防止事故,已经对自动泊位/越野的轨迹规划进行了几项研究;然而,没有几项研究旨在协助船长泊位/越野的轨迹。向船长展示的轨迹应当是复制船长控制特征的动作。以前提议的方法无法明确反映运动和航行,而人类船长在轨迹规划中特别注意减轻心理负担。这里引入了对轨迹规划方法的轻微限制。这些限制在任何特定时间都规定了某些州(位置、船头角度、船速和角速度)。采用这种新的制约可以强制实施谨慎的轨迹规划(例如,在轨迹旋转时速度为零,或者在行驶前先暂停安全),就像由人类船长在泊位/越野期间进行的那样。此处提议的算法是用来优化行驶轨道/行驶速度的行驶速度。这里提议的算法是用来记录行驶速度/行驶速度。</s>