| 摘要 |
A marine vessel maneuvering supporting apparatus performs a stationary marine vessel maneuvering support operation, the marine vessel including a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles. The apparatus includes a position detecting section which detects a position of the marine vessel, a marine vessel maneuvering support starting command section, a marine vessel maneuvering support starting position storing section, a steering controlling section which controls the steering angles of the respective steering mechanisms such that the marine vessel has a turning angular speed of zero in response to the marine vessel maneuvering support starting command, a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems, such that at least one of x- and y-coordinates of the current marine vessel position is maintained substantially equal to a corresponding one of x- and y-coordinates of the marine vessel maneuvering support starting position, and a propulsive force controlling section which controls the propulsion systems to attain the target propulsive forces.
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