Development of main requirements for the operating systems of an automatic tugboat for escorting a maritime autonomous surface ship

This article discusses the requirements for the main operating systems of an automatic tugboat designed to perform escort, mooring, and unmooring operations for vessels in port waters. The relevance of the work stems from the need to increase the safety and efficiency of port operations through the introduction of autonomous technologies. The architectural and structural features of the automatic tugboat, which ensure high maneuverability and operational reliability, are presented. Particular attention is paid to the key functional systems: the automatic navigation system and the situational awareness system. Mathematical models and algorithms are proposed for analyzing the navigation situation, adjusting routes, ensuring safe separation from other vessels, as well as methods for integrating data from various information sources (high-precision navigation systems, AIS, radar, log) using the Kalman filter. Requirements for the propulsion system with azimuth thrusters, the power supply system with redundancy, the rigid coupling system (including magnetic devices), and the emergency towing system are also described. The study results aim to create a safe, reliable, and highly automated automatic tugboat capable of effectively interacting with the environment and performing complex maneuvers in confined conditions.

1. Senchenko, V. G., A. B. Kryuchkov and V. V. Zaslonov. RU 222 507 U1, B 63 B 3/00. Korpus sudnabuksira. Russian Federation, assignee. Publ. December 29, 2023.

2. Bidenko, S. I., V. G. Senchenko and A. B. Vasil’ev. “O About the conceptual appearance of the automatic tow for work in a towing order or “pack”.” Nedelya nauki Sankt-Peterburgskogo gosudarstvennogo morskogo tekhnicheskogo universiteta 1–1 (2021): 178–178. DOI: 10.52899/978-5-88303-611-7_170.

3. Bidenko, S. I., V. G. Senchenko and A. B. Vasil’ev. “About the conceptual appearance of the automatic tow for work in a towing order or “pack”. “ Week of Science of St. Petersburg State Maritime Technical University 1–1 (2022): 34.

4. Moseyko, E. S., E. O. Ol’khovik and V. Yu. Rud’. “Method of guiding, mooring and unmooring sea cargo vessel in autonomous mode and method of operating digital instrumental platform for motion control of group of autonomous towing vessels in port water area.” Vestnik gosudarstvennogo universiteta morskogo i rechnogo flota im. admirala S. O. Makarova 16.5 (2024): 775–783. DOI: 10.21821/2309-5180-2024-16-5-775-783.

5. Epikhin, A. I. and M. A. Modina. “Problems of introducing unmanned vessels on the basis of statistical studies of emergencies and ship losses.” Morskie intellektual’nye tekhnologii 3–1(53) (2021): 77–82. DOI: 10.37220/MIT.2021.53.3.010.

6. Studenikin, D. E., S. I. Kondrat’ev, E. V. Khekert and M. A. Modina. “Dynamic formation of a safety corridor during preliminary vessel route planning.” Morskie intellektual’nye tekhnologii 2–4(52) (2021): 128–131. DOI: 10.37220/MIT.2021.52.2.081.

7. Lopatina, V. V. and V. G. Senchenko. “Methodic of measuring of geometric displacements of a moving object.” Morskie intellektual’nye tekhnologii 4–4(50) (2020): 62–66. DOI: 10.37220/MIT.2020.50.4.098.

8. Zaslonov, V. V. and S. N. Stukonog. “The method of group movement of marine mobile objects.” Ekspluatatsiya morskogo transporta 2(111) (2024): 76–84. DOI: 10.34046/aumsuomt111/13.

9. Zaslonov, V. V., V. G. Senchenko and A. A. Butsanets. “Description of Sea Maneuvers Performed by a Group of Automatic Tugs Using the Flock Method.” Transportation Research Procedia 61 (2022): 347–353. DOI: 10.1016/j.trpro.2022.01.056.

10. Dergilev, V. A. and S. S. Zhuk. “Implementation of trunk solutions to the problems of optimizing the management of the vessel on the course in the mode of autonomous navigation.” Transport Business Of Russia 4 (2022): 149–153. DOI: 10.52375/20728689_2022_4_149.

11. Gaythwaite J. W. Design of Marine Facilities for the Berthing, Mooring, and Repair of Vessels. Reston: ASCE Press, 2004.

12. Burylin, I. V. “Interface for indication and remote control of an unmanned vessel in automatic and manual modes.” Journal of Physics: Conference Series 2061.1 (2021): 012074. DOI: 10.1088/1742-6596/2061/1/012074.

13. Klyuev, V. V. et al. “Participation of the russian federation in the development of international legal instruments in the autonomous shipping.” Transportnoe pravo i bezopasnost’ S1 (2024): 9–267.

14. Golovina, A. A., S. Ya. Penzev and L. G. Bakulina. “Some problem aspects of qualification of the ship’s captain’s fail to render assistance to persons in disstress at sea under the conditions of autonomous navigation.” Vestnik gosudarstvennogo morskogo universiteta imeni admirala F. F. Ushakova 1(42) (2023): 107–111.

15. Golovina, A. “On the issue of the legal status of persons exercising control of a maritime autonomous surface vessel.” SHS Web Conf. 134 (2022): 00114. DOI: 10.1051/shsconf/202213400114.

16. Burylin, Ya. V. et al. “Software and hardware complex for solving problems of autonomous navigation.” Morskie intellektual’nye tekhnologii 4–1(58) (2022): 68–74. DOI: 10.37220/MIT.2022.58.4.025.

17. Butsanets, A. A., N. M. Ksenofontov and T. A. Volkova. “Studying the problem of constructing an automated control system to ensure the safe passage of unmanned vessels through shipping locks.” Vestnik gosudarstvennogo universiteta morskogo i rechnogo flota im. admirala S. O. Makarova 15.6 (2023): 1115–1129. DOI: 10.21821/2309-5180-2023-15-6-1115-1129.

18. Karetnikov, V., E. Ol'khovik, A. Butsanets and A. Ivanova. “Development of Methods for Maneuvering Trials of Autonomous Ships in Test Water Area.” Proceedings of the XIII International Scientific Conference on Architecture and Construction 2020 Springer Nature Singapore, 2021: 40–46.

19. Karetnikov, V. V., S. V. Rudykh and A. A. Butsanets. “On the issue of developing conceptual statements of technical fleet remote control system.” Vestnik Of Astrakhan State Technical University. Series: Marine Engineering And Technologies 2 (2019): 7–15. DOI: 10.24143/2073-1574-2019-2-7-15.

20. Karetnikov, V., E. Ol'khovik, A. Butsanets and A. Ivanova. “Simulation of Maneuvering Trials of an Unmanned or Autonomous Surface Ship on a Navigation Simulator.” Proceedings of the XIII International Scientific Conference on Architecture and Construction 2020 Springer Nature Singapore, 2021: 146–156.

21. Ayzinov, S. D. et al. “Principles for assessing the functional properties of systems for autonomous shipping.” Nauchno-tekhnicheskiy sbornik Rossiyskogo morskogo registra sudokhodstva 74 (2024): 83–96.

22. Smolentsev, S. V. “The problem of estimation of navigation situation in the sea.” Vestnik gosudarstvennogo universiteta morskogo i rechnogo flota im. admirala S. O. Makarova 6(34) (2015): 23–28. DOI: 10.21821/23095180-2015-7-6-23-28.

23. Moseyko, E. S., E. O. Ol’khovik and V. Yu. Rud’. “A multi-level system for ensuring the reliability of marine mechanical systems at the stages of the life cycle.” Vestnik gosudarstvennogo universiteta morskogo i rechnogo flota im. admirala S. O. Makarova 16.5 (2024): 775–783. DOI: 10.21821/2309-5180-2024-16-5-775-783.