Simulation and trajectory tracking method of large ships entering port

The maneuverability of large ships in confined waters has long been a focal point of research both domestically and internationally. This paper investigates a 230-meter length between perpendiculars(^L_pp) large container ship, modeling its motion using the three-degree-of-freedom nonlinear MMG equations. A Proportional-Integral-Derivative（PID） controller is employed to simultaneously adjust the ship's rudder angle and revolution speed of propeller, with the controller's gain parameters optimized using Genetic Algorithms（GA）. The simulation demonstrates the entire process of the ship successfully reaching the unmanned container terminal at Qingdao Port along a predefined path under automatic control in an in homogeneous flow field. The research findings provide valuable guidance for the safe maneuvering of large container ships into port.