Hierarchical Motion Planning and Tracking for Autonomous Vehicles Using Global Heuristic Based Potential Field and Reinforcement Learning Based Predictive Control

The autonomous vehicle is widely applied in various ground operations, in which motion planning and tracking control are becoming the key technologies to achieve autonomous driving. In order to further improve the performance of motion planning and tracking control, an efficient hierarchical framework containing motion planning and tracking...

Speed and heading control-based collision avoidance for a ship towing system

Collision avoidance is a priority task for ensuring the safety of a maritime transportation system. However, for a ship towing system, which is characterized by multiple vessels and physical connections, the research works about collision avoidance is limited. Thus, this paper proposes a speed and heading control-based conflict resolution of...

Distributed Dynamic Coordination Control for Offshore Platform Transportation Under Ocean Environmental Disturbances

Transportation of a large offshore platform from inland waters to the open sea is a hazardous and challenging mission. With the development of the autonomous surface vessel (ASV), the problem of large floating object transportation has a chance to be solved by applying multiple physical-connected autonomous tugboats. This article proposes a...

Cooperative Control of Autonomous Multi-Vessel Systems for Floating Object Manipulation

This thesis provides a set of cooperative control schemes for autonomous multi-vessel systems to manipulate a floating object through physical interconnections in onshore (inland waterways and ports) and offshore areas. Thanks to the maturity and popularity of the advancing technologies in information, communication, sensors, automatic control,...

Short-term Earthquake Prediction via Recurrent Neural Network Models: Comparison among vanilla RNN, LSTM and Bi-LSTM

Earthquake prediction has raised many concerns nowadays, due to the massive loss caused by earthquakes, as well as the significance of accurate forecasting. Lots of trials have been investigated and experimented but few achieved satisfying results on short-term prediction (i.e., usually those earthquakes that will happen in three months). It is...

Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic Environments

This paper proposes a multi-objective cooperative control method for a ship-towing system in congested water traffic environments. The control objectives are to coordinate multiple autonomous tugboats for transporting a ship to: (i) follow the waypoints, (ii) adjust the heading, (iii) track the speed profile, and (iv) resolve collisions. The...