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Intersection Crossing of Cooperative Multi-vessel Systems

机译：协作式多船系统的交叉路口

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A Cooperative Multi-Vessel System (CMVS) is a system consisting of multiple coordinated vessels. Vessels utilize Vessel-2-Vessel and Vessel-2-Infrastructure communication to making decisions with negotiating andor collaborating with each other for a common goal. Due to the geographic limitations of banks and navigation rules and regulations, in straight waterways, the cooperation of vessels usually results in train-like formations. This behavior is similar to the highway platooning of vehicles. A particular challenge arises when such platoons have to cross waterway intersections. At the intersections, the vessel trains need to interact with others. However, research on the interaction between vehicle platoons is still lacking.This paper focuses on the cooperation of vessels at waterway intersections. We propose a framework for cooperative scheduling and control of CMVSs at intersections. The actions of the vessels are determined by solving two problems: Waterway Intersection Scheduling (WIS) and Vessel Train Formation (VTF). Firstly, the process of the vessels passing through an intersection is regarded as consumption of space and time. The WIS helps to find a conflict-free schedule for the vessels from different directions. By solving the WIS problem, each vessel’s desired time of arrival can be determined. Then, the actions of vessels are determined using a distributed Model Predictive Control algorithm in the VTF problem. Agreement among the vessels is achieved via serial iterative negotiations. Simulation experiments are carried out to illustrate the effectiveness of the proposed framework. We compare the passing time of each vessel, and the total passing time in three scenarios: non-cooperative case, partially-cooperative case, and fully-cooperative case. With the proposed cooperative framework, vessels can have smoother trajectories. The total passing time and the passing time for each vessel also benefit from the cooperation. Besides, the proposed framework can be extended to the whole waterway network where other infrastructure (bridges and locks) exists.
机译：协作多船系统（CMVS）是由多个协同船只组成的系统。船只利用Vessel-2-Vessel和Vessel-2-Infrastructure通信来为共同的目标进行协商和/或协作以做出决策。由于河岸的地理限制和航行规则和规定，在直航道中，船只的协作通常会形成火车状的编队。此行为类似于车辆的高速公路排。当这样的排不得不越过水路交叉口时，就会出现一个特殊的挑战。在交叉路口，船只列车需要与其他人互动。但是，仍然缺乏关于车辆排之间相互作用的研究。本文着眼于水路交叉口的船只协作。我们提出了一个交叉路口的CMVS协同调度和控制框架。船舶的行动通过解决两个问题来确定：水路交叉口调度（WIS）和船舶编队（VTF）。首先，将船只通过交叉路口的过程视为时间和空间的消耗。 WIS可以帮助您从不同方向找到无冲突的时间表。通过解决WIS问题，可以确定每艘船的期望到达时间。然后，在VTF问题中使用分布式模型预测控制算法确定船只的动作。船只之间的协议是通过一系列的迭代谈判达成的。仿真实验表明了该框架的有效性。我们在以下三种情况下比较了每艘船的通过时间和总通过时间：非合作案例，部分合作案例和完全合作案例。通过提出的合作框架，船只可以拥有更流畅的轨迹。双方的合作也使总航行时间和每艘船的航行时间受益。此外，所提出的框架可以扩展到存在其他基础设施（桥梁和锁具）的整个航道网络。

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