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.
Zaslonov et al. (Tue,) studied this question.