Cooperative Multi-Vessel System Safety and... · 1/27 Cooperative Multi-Vessel System Linying Chen...
Transcript of Cooperative Multi-Vessel System Safety and... · 1/27 Cooperative Multi-Vessel System Linying Chen...
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Cooperative Multi-Vessel System
Linying Chen
Prof. Rudy R. Negenborn
Prof. J. J. Hopman
Department of Maritime and Transport Technology
Faculty of Mechanical, Maritime and Materials Engineering (3mE)
EMAIL: [email protected]; [email protected]; [email protected].
International Seminar on Safety and Security of Autonomous Vessels
21st, March, 2018, Delft, the Netherlands
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Contents
1. Background
2. Cooperative Multi-Vessel System (CMVS)
3. Intra-CMVS V2V cooperation
• Vessel Train Formation (VTF)
4. Inter-CMVS V2V cooperation
• Waterway Intersection Scheduling (WIS)
5. Conclusion and future research
Maritime &
Transport
Technology
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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.
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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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
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Cooperative Multi-Vessel System1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• Intra-CMVS Vessel-to-Vessel cooperation
– Vessel Train Formation
• Inter-CMVS Vessel-to-Vessel cooperation
– Waterway Intersection Scheduling
• Vessel-to-Infrastructure cooperation
Cooperative Multi-Vessel System1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• Method: Model Predictive Control– Consider conflicts at an early stage
– Up-to-date information
– Control of large-scare networked systems
Cooperative Multi-Vessel System1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Intra-CMVS V2V cooperation
-- 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.
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• Centralized & distributed control
Intra-CMVS V2V cooperation
-- Vessel Train Formation1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• Centralized formulation
Intra-CMVS V2V cooperation
-- Vessel Train Formation
Path following
Aggregation
Control efforts
Input constraint
Velocity constraint
Collision avoidance
Aggregation constraint
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Intra-CMVS V2V cooperation
-- Vessel Train Formation
• Distributed formulation– ADMM-based serial iterative algorithm
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
a) Each vessel solves a local
problem and sends the
predictive trajectory to others.
b) Information updates in
sequence
c) Iterations stop when
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• Simulation experiments
– Influencing factors
• Updating sequence
Intra-CMVS V2V cooperation
-- Vessel Train Formation
Maritime &
Transport
Technology
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
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• Simulation experiments
– Influencing factors
• Responsibility
ሻ𝑧𝑖𝑠(𝑘 ൯= 𝜑𝑖𝑢𝑖
𝑠(𝑘ሻ + 1 − 𝜑𝑖 𝑧𝑖𝑠−1(𝑘
+ Τ൯𝜆𝑖𝑠−1(𝑘 𝜌𝑖 ,
𝑖=1
𝑛
𝜑𝑖 ⩾ 1, 0 ⩽ 𝜑𝑖 ⩽ 1.
Intra-CMVS V2V cooperation
-- Vessel Train Formation
𝑧𝑖𝑠(𝑘ሻ = 𝑢𝑖
𝑠(𝑘ሻ + Τ൯𝜆𝑖𝑠−1(𝑘 𝜌𝑖
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Intra-CMVS V2V cooperation
-- Vessel Train Formation1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Intra-CMVS V2V cooperation
-- Vessel Train Formation
Maritime &
Transport
Technology
• Simulation experiments
– Influencing factors
• Responsibility
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• Simulation experiments
– Scalability
Intra-CMVS V2V cooperation
-- Vessel Train Formation1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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0
10
20
30
40
50
60
70
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Com
pu
tati
on
al
tim
e
in e
ach
tim
e st
ep (
s) InterQuartile Range
Median
Max
Mean
Min
0
1
2
3
4
5
6
7
8
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Nu
mb
er o
f it
erati
on
s
in e
ach
tim
e st
ep
Number of vessels in a CMVS
Intra-CMVS V2V cooperation
-- Vessel Train Formation1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
• Simulation of a CMVS
Intra-CMVS V2V cooperation
-- Vessel Train Formation
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.
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• Time-space occupation– a vessel passing through an intersection can be
regarded as occupying some blocks for a certain
period.
Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• 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.
Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• Simulation experiments
Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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• Simulation experiments– Scenario I: Non-cooperative case
• Arrivals -- Poisson distribution
• Intersection Crossing -- Artificial Potential Field
– Scenario II: Partially-cooperative case • Arrivals -- VTF
• Intersection Crossing -- Artificial Potential Field
– Scenario III: Fully-cooperative case • Arrivals -- VTF
• Intersection Crossing -- WIS
Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling
Maritime &
Transport
Technology
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
L. Chen, R.R. Negenborn, J.J. Hopman. Intersection crossing of cooperative multi-vessel systems. Accepted for the 15th
IFAC Symposium on Control in Transportation Systems (IFAC CTS 2018), Savona, Italy, June 2018.
• Simulation Results
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• Simulation Results
– Overall makespan and the passing time
Inter-CMVS V2V cooperation --
Waterway Intersection Scheduling1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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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
1. Background
2. CMVS
3. Intra-CMVS
-- VTF
4. Inter-CMVS
-- WIS
5. Conclusion
Maritime &
Transport
Technology
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Linying CHEN, [email protected]
Maritime &
Transport
Technology
• 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 Transportation Systems (IFAC CTS 2018),
Savona, Italy, June 2018.
• 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. 65-79, September 2016.
http://negenborn.net/rudy/
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