Semi-physical unmanned ship berthing system based on artificial potential field method and evaluation method

The invention discloses a semi-physical unmanned ship berthing system and evaluation method based on an artificial potential field method. The semi-physical unmanned ship berthing system comprises a hardware system and a software system, the hardware system comprises a ship-borne module and a shore-based module, the ship-borne module comprises a ship body, a compass is carried on the bow of the ship body, and a plurality of distance measuring instruments are installed on the two sides of a ship board respectively, a positioning system, a signal processing receiver and a monitoring module are installed on the ship body, the signal processing receiver is connected with the shore-based module, and a plurality of side thrusters are carried on the side face of the ship body. According to the invention, a brand new parking area division method is determined, and the parking area is divided into a berthing area and a berthing area; the hardware system comprises a model ship carrying a set of testing device, and the