Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels

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Raymond Kristiansen, Henning Levik Ørke, Jan Tommy Gravdahl

Published: 01 Jan 2024, Last Modified: 12 May 2025Simul. Model. Pract. Theory 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•Mathematical modelling of docking vessel and tugboats in 3DOF.•Modelling of interaction forces in pushing/pulling operations.•Model implementation in Simulink-developed simulator.•Simulation and discussion of interaction forces, and ideas for future work.