Intersection crossing of cooperative multi-vessel systems

Abstract

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 and\or 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.