M.P. Farkhadov1, A.V. Abdulov2, Yu.O. Druzhinin3, R.G. Teplukhin4, Ya. M. Dalinger5, V.V. Yakunchikov6

1–4 V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences (Moscow, Russia)
5,6 Russian University of Transport, RUT (MIIT) (Moscow, Russia)
1 mais@ipu.ru, 2 ava@ipu.ru, 3 ydruzhin@ipu.ru, 4 tepluhin@ipu.ru, 5 tdalinger@rut-miit.ru, 6 shneider1969@mail.ru

The field of autonomous navigation is currently rapidly developing. The development of modern small autonomous vessels requires high-precision environmental analysis systems, lightweight algorithms for data processing, and real-time decision-making. One of the stages of a surface vehicle's navigation is mooring, which currently requires increased concentration on the part of crew members. In the future, the introduction of autonomous mooring systems is expected, enabling port operations to be performed, reducing the likelihood of emergency situations due to human error. Existing review articles on the topic of research do not fully reflect the specifics of applying modern technologies to the development of autonomous mooring systems.

The aim of the article is o organize and conduct experimental studies of heterogeneous marine robotic systems in the interests of identifying new opportunities for autonomous mooring of unmanned surface vehicles, using small vessels as an example.

This paper examines approaches to developing autonomous mooring systems for small vessels presented in the scientific literature. The potential for using machine learning algorithms and models for route planning, obstacle detection, and berth infrastructure identification is explored. Based on experimental studies of elements of an autonomous mooring system for small vessels, the advantages, disadvantages, and limitations of the solutions used are described. Proposals for incorporating new capabilities and development prospects for autonomous mooring technologies are substantiated.

The results of this study can be used to select an approach for developing a mooring module for an autonomous control system for small vessels.

Farkhadov M.P., Abdulov A.V., Druzhinin Yu.O, Teplukhin R.G., Dalinger Ya.M., Yakunchikov V.V. Experimental studies of elements of an autonomous berthing system for unmanned surface vehicles // Dynamics of complex systems. 2026. V. 20. № 4. P. 20−36. DOI: 10.18127/j19997493-202604-02

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