Obstacle avoidance and trajectory optimisation for an autonomous vessel utilising MILP path planning, computer vision based perception and feedback control

In this study, we investigated autonomous vessel obstacle avoidance using advanced techniques within the Guidance, Navigation, and Control (GNC) framework. We propose a Mixed Integer Linear Programming (MILP) based Guidance system for robust path planning avoiding static and dynamic obstacles. For Navigation, we suggest a multi-modal neural...

Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...

A Collaborative Berth Planning Approach for Disruption Recovery

Traditionally, terminal operators create an initial berthing plan before the arrival of incoming vessels. This plan involves decisions on when and where to load or discharge containers for the calling vessels. However, disruptive unforeseen events (i.e., arrival delays, equipment breakdowns, tides, or extreme weather) interfere with the...

Mixed-Integer Nonlinear Programming for Energy-Efficient Container Handling: Formulation and Customized Genetic Algorithm

Energy consumption is expected to be reduced while maintaining high productivity for container handling. This paper investigates a new energy-efficient scheduling problem of automated container terminals, in which quay cranes (QCs) and lift automated guided vehicles (AGVs) cooperate to handle inbound and outbound containers. In our scheduling...

Synchromodal transport planning with flexible services: Mathematical model and heuristic algorithm

As a critical feature of synchromodal transport (ST), service flexibility plays an important role in improving the utilization of resources to reduce costs, emissions, congestions, and delays. However, none of the existing studies considered flexible services under the framework of synchromodality. This paper develops a Mixed Integer Linear...

Model predictive control with memory-based discrete search for switched linear systems

Controlling systems with both continuous and discrete actuators using model predictive control is often impractical, since mixed-integer optimization problems are too complex to solve sufficiently fast. This paper proposes a parallelizable method to control both the continuous input and the discrete switching signal for linear switched...