Cooperative Multi-Vessel System

Transcription

1 International Seminar on Safety and Security of Autonomous Vessels 21 st, March, 2018, Delft, the Netherlands Cooperative Multi-Vessel System Linying Chen Prof. Rudy R. Negenborn Prof. J. J. Hopman Department of Maritime and Faculty of Mechanical, Maritime and Materials Engineering (3mE) 1/27

2 Contents 1. Background 2. Cooperative Multi-Vessel System (CMVS) V2V cooperation Vessel Train Formation (VTF) V2V cooperation Waterway Intersection Scheduling (WIS) and future research 2/27

3 Background Problem Safety Misunderstanding Unexpected incidents Efficiency Congestion at locks and ports Task performing Tasks which cannot be fulfilled by individual vessels, such as towing large structures, searching, etc. 3/27

4 Background Cooperation as a solution Safety: Efficient decision making Fast reaction to unexpected incidents Organized traffic Efficiency: Improve the utilization rate Saves line-up time Task performing: Cooperation of a group of vessels can carry out tasks more efficiently and effectively 4/27

5 Cooperative Multi-Vessel System 5/27

6 Cooperative Multi-Vessel System Intra-CMVS Vessel-to-Vessel cooperation Vessel Train Formation Inter-CMVS Vessel-to-Vessel cooperation Waterway Intersection Scheduling Vessel-to-Infrastructure cooperation 6/27

7 Cooperative Multi-Vessel System Method: Model Predictive Control Consider conflicts at an early stage Up-to-date information Control of large-scare networked systems 7/27

8 Intra-CMVS V2V cooperation 1. Background -- Vessel Train Formation Path following: attempt to follow the predetermined paths; Aggregation: attempt to stay close to nearby vessels; Collision avoidance: avoid collisions with nearby vessels. 8/27

9 Intra-CMVS V2V cooperation -- Vessel Train Formation Centralized & distributed control 9/27

10 Intra-CMVS V2V cooperation -- Vessel Train Formation Centralized formulation Path following Aggregation Control efforts Input constraint Velocity constraint Collision avoidance Aggregation constraint 10/27

11 Intra-CMVS V2V cooperation 1. Background -- Vessel Train Formation Distributed formulation ADMM-based serial iterative algorithm a) Each vessel solves a local problem and sends the predictive trajectory to others. b) Information updates in sequence c) Iterations stop when 11/27

12 Intra-CMVS V2V cooperation 1. Background -- Vessel Train Formation Simulation experiments Influencing factors Updating sequence 12/27

13 Intra-CMVS V2V cooperation Simulation experiments Influencing factors Responsibility z s i (kሻ = u s i (kሻ + λ s 1 i (k൯τ -- Vessel Train Formation ρ i z s i (kሻ = φ i u s i (kሻ + 1 φ i z s 1 i (k൯ n + λ s 1 i (k൯τρ i, φ i 1, 0 φ i 1. i=1 13/27

14 Intra-CMVS V2V cooperation -- Vessel Train Formation 14/27

15 Intra-CMVS V2V cooperation 1. Background -- Vessel Train Formation Simulation experiments Influencing factors Responsibility 15/27

16 Intra-CMVS V2V cooperation Simulation experiments Scalability -- Vessel Train Formation 16/27

17 Number of iterations in each time step Computational time in each time step (s) 1. Background Intra-CMVS V2V cooperation InterQuartile Range Median Max Mean Min -- Vessel Train Formation Number of vessels in a CMVS 17/27

18 Intra-CMVS V2V cooperation -- Vessel Train Formation Simulation of a CMVS L. Chen, R.R. Negenborn, J.J. Hopman. Distributed model predictive control for vessel train formation of cooperative multi-vessel systems. Manuscript submitted for publication. 18/27

19 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling Time-space occupation a vessel passing through an intersection can be regarded as occupying some blocks for a certain period. 19/27

20 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling Sequential constraint: a vessel passes through the blocks in a predetermined sequence; No-wait constraint: a vessel has to enter the next block immediately when it leaves a block; Disjunctive constraint: other vessels cannot enter a block until the one inside leaves the block. 20/27

21 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling 21/27

22 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling Simulation experiments 22/27

23 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling Simulation experiments Scenario I: Non-cooperative case Arrivals -- Poisson distribution Intersection Crossing -- Artificial Potential Field Scenario II: Partially-cooperative case Arrivals Intersection Crossing -- Artificial Potential Field Scenario III: Fully-cooperative case Arrivals Intersection Crossing 23/27

24 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling Simulation Results L. Chen, R.R. Negenborn, J.J. Hopman. Intersection crossing of cooperative multi-vessel systems. Accepted for the 15th IFAC Symposium on Control in ation Systems (IFAC CTS 2018), Savona, Italy, June /27

25 Inter-CMVS V2V cooperation -- Waterway Intersection Scheduling Simulation Results Overall makespan and the passing time 25/27

26 Conclusion and Future research Conclusion The concept of CMVSs A serial iterative ADMM-based DMPC algorithm for VTF of a CMVS WIS for V2V interaction between CMVSs Future research Intra-CMVS Vessel-to-Vessel cooperation Task Performing Formation Vessel-to-Infrastructure cooperation Predictive scheduling for locks 26/27

27 More L. Chen, R.R. Negenborn, J.J. Hopman. Distributed model predictive control for vessel train formation of cooperative multi-vessel systems. Manuscript submitted for publication. L. Chen, R.R. Negenborn, J.J. Hopman. Intersection crossing of cooperative multi-vessel systems. Accepted for the 15th IFAC Symposium on Control in ation Systems (IFAC CTS 2018), Savona, Italy, June L. Chen, R.R. Negenborn, G. Lodewijks. Path planning for autonomous inland vessels using A*BG. In Proceedings of the 7th International Conference on Computational Logistics (ICCL 2016), Lisbon, Portugal, pp , September Linying CHEN, 27/27