Generalized velocity obstacle algorithm for preventing ship collisions at sea

Huang, Yamin; Chen, Linying; Gelder, Pieter van

doi:10.1016/j.oceaneng.2018.12.053

Cited by 169 publications

(66 citation statements)

References 35 publications

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“…For example, optimization-based tracking controllers usually have obstacle avoidance constraints. Conventional obstacle avoidance methods, such as potential field [20] and velocity obstacles [21], usually do not consider cooperation between vessels. Vessels have to predict the actions that other vessels may take.…”

Section: B Obstacle Avoidancementioning

confidence: 99%

“…Equation (20) represents the disjunctive constraint. Equation (21) represents that the interval between the arrival time of the vessels at the same block should larger than a predefined safe time interval t i,safe ; the same constraint holds for the situation when vessels leave the blocks, i.e. (22).…”

Section: B Scheduling For An Isolated Intersectionmentioning

confidence: 99%

“…A smallsize MIP problem can be solved within a reasonable amount of time. Thus, our WIS problem is formulated as an MIP problem with the constraints (20), (21) and (22) replaced by the following constraints:…”

Section: B Scheduling For An Isolated Intersectionmentioning

confidence: 99%

“…Then, a simulation of CMVSs crossing an intersection are presented to illustrate how WIS helps to improve the efficiency of waterborne transport. The results are compared with a baseline scenario in which vessels avoid collision using a revised version of Generalized Velocity Obstacle (GVO) that is proposed in [21], and pass through the intersection based on the First In First Out (FIFO) rule. In the end, simulation results of CMVSs in a canal network of Amsterdam are provided.…”

Section: Simulation Experimentsmentioning

confidence: 99%

“…Then, we carry out a comparison between the scenario in which CMVSs cross intersection B and a baseline simulation. In the baseline simulation, cooperation is not considered and the ASVs avoid collisions using the GVO method proposed in [21] and the FIFO rule for intersection crossing. GVO algorithms have been employed to various vehicles for collision prevention, such as wheeled robots, unmanned aerial vehicles, and ASVs.…”

Section: B Intersection Crossingmentioning

confidence: 99%

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Cooperative Multi-Vessel Systems in Urban Waterway Networks

Chen

Huang

Zheng

et al. 2020

IEEE Trans. Intell. Transport. Syst.

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Urban waterways have great potential in cargo transport to relieve the congestion in the overloaded road networks. This paper explores the potential of applying cooperative multi-vessel systems (CMVSs) to improve the safety and efficiency of transport in urban waterway networks. A framework consisting of vessel train formation (VTF) and cooperative waterway intersection scheduling (CWIS) is proposed. Two types of controllers are introduced. Intersection controllers solve the CWIS problems and assign each vessel a desired time of arrival and vessel controllers are responsible for the VTF in waterway segments and the timely arrival at the intersections. An alternating direction method of multipliers (ADMM)-based negotiation framework is proposed for the cooperation among the controllers. The simulation experiments involving the scenarios in which up to 50 vessels sailing in the canal network in Amsterdam are carried out to illustrate the effectiveness of the proposed approach. In the simulation of an isolated intersection, rescheduling is triggered when some vessels cannot arrive on time. Although some ASVs arrive later, the time that is needed for all the ASVs to pass through is the same after rescheduling. Moreover, we compare the cooperative situation with the proposed CMVSs with a baseline situation. In the baseline situation, vessels avoid collisions using the generalized velocity obstacle (GVO) method and cross the intersection with a first in, first out rule. The CMVSs show better path following performance, while the GVO method needs fewer velocity changes. From the perspective of efficiency, the CMVSs help to reduce the total time to pass through the intersection. Index Terms-Cooperative multi-vessel system, cooperative waterway intersection scheduling, waterway network, autonomous surface vessel, cooperative intelligent traffic system. I. INTRODUCTION I N DENSELY populated regions, like cities, road networks are often confronted with congestion and capacity problems. Many cities have considerable waterway resources, such as Amsterdam, Rotterdam, and Utrecht in The Netherlands, and cities in Jiangsu and Zhejiang Province, East China (Fig. 1). Waterway transport could offer an Manuscript

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Section: B Obstacle Avoidancementioning

confidence: 99%