Survey on research status of trajectory planning and control methods for autonomous ship berthing

Autonomous berthing is a key element of intelligent navigation,yet its strong scenario dependence limits the application of theoretical research into actual implementations. Variations in ship type,propulsion configuration,and berth conditions impose distinct requirements on trajectory planning and control. At the same time,defining the completion criteria for autonomous berthing operation and establishing a comprehensive evaluation framework are essential for ensuring practicality and safety. This paper systematically reviews recent advances in trajectory planning and motion control for autonomous berthing. First,the key technical elements,including trajectory planning and motion control methods,are introduced. Second,different berthing strategies tailored to specific ship types and propulsion systems are analyzed in depth. Subsequently, berthing completion standards, performance evaluation metrics, and experimental validation approaches are discussed. Finally,the major challenges in the current research are summarized,and potential directions for future development are outlined.