摘要：The berthing of an ultra large ship is always a difficult issue and becomes yet more complex when vessels must be handled in restricted manoeuvring areas of limited depth, exposed to a forceful crosswind, or manoeuvring in a strong current, or all three. The final approaching manoeuvre and precise positioning is particularly demanding at container terminals where many STS cranes are located along the quay, seriously limiting margin for error in the process of mooring a ship, especially when the cranes are located nearby a bridge wing or at the very edge of the pier. In order to avoid collisions, the final manoeuvre (side-push) must be fully controlled; the ship’s orientation must be parallel with the quay while maintaining the minimum lateral approaching velocity without significantly shifting the vessel longitudinally. The mooring of a Ro-Ro vessel is occasionally even more challenging: a precise docking manoeuvre is normally executed without any towing assistance. In this paper low cost laser-based berthing and docking systems developed for the ports of Koper and Swinousce are presented and several berthing manoeuvres are analysed and compared with the most commonly used GNSS-based navigational aid system portable pilot units (PPU).
