Towards autonomous inland shipping: a manoeuvring model in confined waterways
Artikel i vetenskaplig tidskrift, 2024

Autonomous inland water vessels are essential for promoting intelligent and sustainable waterborne transport. An accurate ship manoeuvring model ensures reliable control strategies and enhances navigation safety. Although ship manoeuvrability models have existed for decades, few studies address shallow and restricted waters. This study introduces a manoeuvring model for inland water vessels, accounting for confinement effects on ship motion. The Manoeuvring Modelling Group (MMG) model in open water serves as the baseline, incorporating empirical methods for shallow water and bank effects. This approach aims to provide a fast and accurate prediction of vessel motion response. The model was validated with free-running experimental data of a pusher-barge model from turning tests at three water depths. Additional case studies highlight shallow water impact compared to infinite water performance under bank effects. Finally, course-keeping case studies are presented, integrating a Proportional-Derivative controller with combined river current and bank-induced forces.

Confinement effect

manoeuvring prediction

motion control

inland waterways

autonomous vessel


Chengqian Zhang

Chalmers, Mekanik och maritima vetenskaper, Marin teknik

Yucong Ma

Universitetet i Stavanger

Fabian Thies

Jonas Ringsberg

Chalmers, Mekanik och maritima vetenskaper, Marin teknik

Yihan Xing

Universitetet i Stavanger

Ships and Offshore Structures

1744-5302 (ISSN) 1754-212X (eISSN)

Vol. In Press

AUTOBarge - European training and research network on Autonomous Barges for Smart Inland Shipping

Europeiska kommissionen (EU) (EC/H2020/955768), 2021-10-01 -- 2025-09-30.


Hållbar utveckling


Transportteknik och logistik

Oceanografi, hydrologi, vattenresurser

Sannolikhetsteori och statistik



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