1. JP2020083090 - ROUTE GENERATING DEVICE

PROBLEM TO BE SOLVED: To provide a route generating device capable of generating a route to make a ship accurately and automatically dock.

SOLUTION: A route controller generates a route 56 to make a ship 95 dock at a berthing facility. The route 56 includes a first position P1 and a second position P2. The first position P1 is a passing point (a passing point A7 in an example of the selected figure) offset by a specified distance in the vertical direction perpendicular to the direction of the berthing facility from a docking point B1 (the second position P2) of the ship 95 in the berthing facility. The second position P2 is the docking point B1 of the ship 95 in the berthing facility. The first position P1 is just before the second position P2 as the order that ship 95 should realize. The route 56 is generated so that the ship 95 moves from the first position P1 to the second position P2 while maintaining the orientation of the ship 95 in the direction along the berthing facility.

SELECTED DRAWING: Figure 5

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