In this paper, a distributed control approach is proposed to enable fuel-efficient Vessel Train Formations (VTF) in inland waterways and port areas for addressing the efficiency and environmental issues of transport over water. For path tracking, collision avoidance, and consensus over the VTF speed a distributed Model Predictive Control (MPC) algorithm is adopted which uses the Alternating Direction Method of Multipliers (ADMM) to guarantee path following and consensus between vessels. The all-electric Direct Current (DC) configuration is considered for the Power and Propulsion Systems (PPS) of the autonomous vessels under study. Considering their PPS specification, the vessels negotiate with each other to agree on the most efficient speed for all the vessels in the VTF. Simulation results suggest that a significant amount of fuel saving can be obtained by using the proposed approach.
|Title of host publication||Proceedings of the 18th European Control Conference (ECC 2019)|
|Place of Publication||Piscataway, NJ, USA|
|Publication status||Published - 2019|
|Event||ECC 2019: 18th European Control Conference - Napoli, Italy|
Duration: 25 Jun 2019 → 28 Jun 2019
|Conference||ECC 2019: 18th European Control Conference|
|Period||25/06/19 → 28/06/19|