Abstract: Aiming at the problem that the neural network autonomous docking controllers can only complete the docking of a specific ports, but cannot extend to other ports without training data, a coordinate system (berth coordinates with the berth vertex as theorigin and the shoreline as the Y Axis) is proposed. The relative position is used to train the controller. In V.Dragon-5000 navigation simulator, the container ship “Yinhe” is selected. After docking training at Dalian port, the docking controller is successfully extended to Shenzhen Shekou port and Singapore Changi port without training data. The simulation verifies that the application of the newly established coordinate system can greatly expand the application range of the neural network autonomous docking controller and reduce the cost required for training data.

Key words: unmanned ship, automatic ship berthing, berth coordinates, ANN controller, navigation simulation