Coordination and Optimization Control Framework for Vessels Platooning in Inland Waterborne Transportation System

Wei Tao, Man Zhu, Shengyong Chen, Xu Cheng, Yuanqiao Wen, Weidong Zhang, Rudy R. Negenborn, Yusong Pang

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Abstract

Vessels sailing in a single platoon could reduce resistance from the perspective of the whole platoon and the individual vessel, and contribute to improving energy benefits. Moreover, transportation energy costs and traffic efficiency are essential indicators for measuring waterborne transportation systems. We attempt to minimize transportation energy costs by coordinating platoon formation using a distributed framework of controllers. A large-scale coordinated vessel platooning program is proposed to minimize transportation energy costs and optimize traffic efficiency while guaranteeing safety. The control framework covers routing, energy consumption-dependent cooperative platooning decision and speed optimization based on graph search algorithm, cluster analysis, optimal control approach and model predictive control. Firstly, a local scheduling strategy combined with the leader vessel selection algorithm is adopted. Furthermore, we used cluster analysis to create a series of mergeable vessel platooning sets. Then, we used the mathematical planning method and a two-step hybrid optimal control approach to calculate the improvement and optimization of each vessel platoon's path and speed. Finally, the scalability of the scheduling strategy is elucidated. In a simulation of large scale inland waterborne network, savings surpassed 3.5% when six hundreds vessels participated in the system. These simulation results reveal that the scheduling strategy coordinating vessels into vessel platooning, which improves transportation efficiency as well as descends cost, comparing to a fixed origin route in the waterway network.

Original languageEnglish
Pages (from-to)15667-15686
JournalIEEE Transactions on Intelligent Transportation Systems
Volume24
Issue number12
DOIs
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • cooperative control
  • Costs
  • Energy consumption
  • energy consumption
  • Merging
  • Optimization
  • Planning
  • Safety
  • scheduling scheme
  • Transportation
  • Vessel platooning
  • waterborne transportation system

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