摘要：AbstractThis paper presents a comprehensive, gradual system conception for automatic manoeuvring of vessels already in service. It includes an overview of the necessary technical requirements regarding the access to bridge, actuator and sensor systems of the ship. Focusing on safety, a concept for optional operation of assisted manual or automatic manoeuvring including the switching procedure between the modes is presented. Furthermore, the developed structure of the automation module is explained, which serves as the core for data management, monitoring and control. The cascaded controller structure is based on a parameter space model whose different characteristics are used in the development of feedforward and feedback control as well as actuator allocation. This parameter space approach allows a consideration of the entire velocity range of the watercraft. The concept of automation for conventional vessels is exemplarily applied to the German research and survey vessel DENEB to demonstrate automated manoeuvring along a given trajectory in simulation and tests in port of Rostock.
