{
  "$type": "site.standard.document",
  "description": "A method for motor-driven docking with a ship (1), in particular a yacht, at a mooring point (2) in a mooring area is proposed, wherein in a map creation step an actual map of an environment of the mooring area is created, wherein in a mooring position determination step the mooring point (2) and a…",
  "path": "/patents/960236",
  "publishedAt": "2015-06-03T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/06",
    "KUHN ANDREAS [AT]"
  ],
  "textContent": "A method for motor-driven docking with a ship (1), in particular a yacht, at a mooring point (2) in a mooring area is proposed, wherein in a map creation step an actual map of an environment of the mooring area is created, wherein in a mooring position determination step the mooring point (2) and a mooring position of the ship (1) at the mooring point (2) in the mooring area is determined; wherein in a trajectory planning step a desired trajectory (3) from an actual position of the ship (1) to the mooring position of the ship (1) is determined, wherein in a trajectory tracking step the ship (1) is controlled along the desired trajectory (3) in the direction of the mooring position.",
  "title": "Method for motor-powered application"
}