COLREGS-Compliant collision avoidance for physically coupled multi-vessel systems with distributed MPC

Du, Zhe; Negenborn, Rudy R.; Reppa, Vasso

doi:10.1016/j.oceaneng.2022.111917

Cited by 15 publications

(4 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A distributed MPC control for COLAV with COLREGS compliance for physically-connected multi-vessel system is proposed in [37]. This system includes two tug boats cooperating to tow a bigger ship, e.g., a container ship.…”

Section: Bi-direction Waterways Collaborative Colavmentioning

confidence: 99%

Collision avoidance of autonomous ships in inland waterways – A survey and open research problems

Tran,

Johansen,

Negenborn

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

Promoting autonomous surface ships in inland waterways traffic (IWT) is a potential solution towards reducing road traffic and transport emission footprints. Over the last decade, there has been a growing research on autonomous ships for open waters. However, applying this research to the IWT domain is not straightforward. The IWT, due to its confined waterways, poses a different challenge than the open sea case. Due to the confined waterways, inland ships face several hydrodynamic phenomena that they rarely encountered in the open sea, such as shallow water, banks, or ship-to-ship effects. Furthermore, the higher traffic density in inland waterways also requires a different solution for sensing and control systems. This paper offers an overview of the current developments on autonomous collision avoidance for inland waterway ships that covering different problems of safety navigation for ship in IWT. A short analysis is presented to highlight the strengths and weaknesses of each approach. We also discuss the current research gaps and what could be improved to enable the operation of inland autonomous ships.

show abstract

Section: Bi-direction Waterways Collaborative Colavmentioning

confidence: 99%

Collision avoidance of autonomous ships in inland waterways – A survey and open research problems

Tran,

Johansen,

Negenborn

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…Step 4: Update the Lagrange multiplier λ s i (k) based on the results from Step 2 and Step 3 according to (28).…”

Section: Algorithm -Distributed Cooperative Control Schemementioning

confidence: 99%

“…In previous works, the authors have investigated different control objectives for a ship-towing system: the position and heading control [3], [26], the distance control (collision resolution) [27], [28], and the speed control [29]. However, no research considers how to coordinate properly for these control objectives to implement all of them effectively.…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

Negenborn

Reppa

2022

IEEE Trans. Intell. Transport. Syst.

Self Cite

View full text Add to dashboard Cite

“…Two control strategies are combined to guarantee this two-ship ensemble to track its prescribed heading angle and surge speed. Du et al (2022) formulated a COLREGs-compliant reference trajectory for a ship towing system avoid collisions with surrounding ships in near port waters. The distributed MPC-based strategy is adopted to determine the towing force and towing angle of two tugs to further ensure this towing system follow this reference trajectory.…”

Section: Review and Analysis Of Related Workmentioning

confidence: 99%

Collision prevention of ship towing operation under environmental disturbance

Zhang

Banda

et al. 2022

Ocean Engineering

Self Cite

View full text Add to dashboard Cite

COLREGS-Compliant collision avoidance for physically coupled multi-vessel systems with distributed MPC

Cited by 15 publications

References 32 publications

Collision avoidance of autonomous ships in inland waterways – A survey and open research problems

Collision avoidance of autonomous ships in inland waterways – A survey and open research problems

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

Collision prevention of ship towing operation under environmental disturbance

Contact Info

Product

Resources

About