Path Planning for Lock Entering Maneuvers Using Nonlinear Programming

Lachmeyer, Axel; Herzer, Benjamin; Gilles, Ernst Dieter

doi:10.3182/20100915-3-de-3008.00013

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…Lachmeyer et al [18] applied nonlinear programming (NLP) for path planning for ships in confined waterways. Unlike other methods that only consider the center of gravity (CoG) in the planning problem, this research concerns the position of the ship's CoG, bow, and stern.…”

Section: Path Planning In Confined Areamentioning

confidence: 99%

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

Tran,

Johansen,

Negenborn

2023

J. Phys.: Conf. Ser.

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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.

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Section: Path Planning In Confined Areamentioning

confidence: 99%

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

Tran,

Johansen,

Negenborn

2023

J. Phys.: Conf. Ser.

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“…In this paper, context is defined as part of a situation or data that influences movement [19]. According to the literature, many contextual factors like the sea state [38], wave direction [39], water depth and distance to coast [39], wave height [40], fluid speed [40], wind speed [39,41,42], wind direction [39,43], the density of air [44], vessel type [39,40,43], vessels' hull design [40], and vessels' length [41,[44][45][46][47], affect the vessels' movement. This paper, according to the presented meaning of the context and data availability, uses a shoreline and vessels' type as contexts.…”

Section: Related Concepts and Data Sourcementioning

confidence: 99%

A Contextual Hybrid Model for Vessel Movement Prediction

2021

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Predicting the movement of the vessels can significantly improve the management of safety. While the movement can be a function of geographic contexts, the current systems and methods rarely incorporate contextual information into the analysis. This paper initially proposes a novel context-aware trajectories' simplification method to embed the effects of geographic context which guarantees the logical consistency of the compressed trajectories, and further suggests a hybrid method that is built upon a curvilinear model and deep neural networks. The proposed method employs contextual information to check the logical consistency of the curvilinear method and then, constructs a Context-aware Long Short-Term Memory (CLSTM) network that can take into account contextual variables, such as the vessel types. The proposed method can enhance the prediction accuracy while maintaining the logical consistency, through a recursive feedback loop. The implementations of the proposed approach on the Automatic Identification System (AIS) dataset, from the eastern coast of the United States of America which was collected, from November to December 2017, demonstrates the effectiveness and better compression, i.e. 80% compression ratio while maintaining the logical consistency. The estimated compressed trajectories are 23% more similar to their original trajectories compared to currently used simplification methods. Furthermore, the overall accuracy of the implemented hybrid method is 15.68% higher than the ordinary Long Short-Term Memory (LSTM) network which is currently used by various maritime systems and applications, including collision avoidance, vessel route planning, and anomaly detection systems.

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“…As part of the second level, coordination between ships and locks might also be considered. An interesting application related to this field, is the development of a path planing method for lock entering maneuvers in [23]. Finally, there is a third automation level which optimizes the shipping process taking into account locks, loading/unloading facilities, etc.…”

Section: Linking Transport Of and Transport Over Watermentioning

confidence: 99%

Closed-Loop Identification and Control of Inland Vessels

Padilla

Bittner

Yuz

2015

Operations Research/Computer Science Interfaces Series

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Extensive research has been conducted on a navigation system for inland vessels at the University of Stuttgart and at the Max Planck Institute for Dynamics of Complex Technical Systems, Magdeburg (Focus Max Planck Gesellschaft, Computer at the helm, http://www.mpg.de/942027). As part of this navigation system, a model-based track-keeping controller has been developed. A high performance controller is required because of the reduced space available on rivers and canals. The control structure consists of two components, a feedback and a feedforward block, where the former is provided by a linear quadratic gaussian controller. Both components require the ship dynamics model and thus, the parameter estimation of the underlying model is a key issue to achieve high performance. In this chapter, we firstly consider Monte Carlo simulations to generate data of the closed-loop system and then the parameters of a continuous-time steering dynamics model are identified. The parameter estimation problem is solved applying an instrumental variable method, which takes into account the control structure. Parameter identification using real closed-loop experiments is also considered. Additionally, we evaluate the experiments for parameter estimation through a sensitivity analysis.

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Path Planning for Lock Entering Maneuvers Using Nonlinear Programming

Cited by 5 publications

References 4 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

A Contextual Hybrid Model for Vessel Movement Prediction

Closed-Loop Identification and Control of Inland Vessels

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