The inland waterway transport sector is facing increasingly stringent legislation to reduce emissions and improve energy efficiency. Speed planning has the potential to provide logistically compliant, energy-efficient, and emission-reducing voyages for inland vessels. However, current speed planning methods do not consider PM and NO_x emissions, nor do they consider alternative power systems to internal combustion engines (ICE) and full electric systems. These omissions have led to a lack of clarity on the impact of speed planning on the emission profile of inland vessels and the impact of alternative power systems on energy consumption. In this paper we propose a validated speed planning method that considers the emission profile (CO₂, PM₁₀, and NO_x) and different engine types for inland vessels in an leg-based speed planning approach while taking into account varying fairway water depth and speed. Through a use case we show that the vessel can achieve a 7.26% energy, 5.37% CO₂ and fuel, 3.85% NO_x, and 6.77% PM₁₀ reduction while maintaining the same arrival time; showing a distinct difference of this method compared to slow steaming. We also find that CO₂, NO_x, PM₁₀, and energy are not directly proportional when making speed adjustments. Finally, we analyze the adverse effects of emission control areas and emission limits on the energy consumption and arrival times of vessels with non-zero emissions propulsion.

The inland waterway transport sector is facing increasingly stringent legislation to reduce emissions and improve energy efficiency. Speed planning methods are an attractive option as they provide energy-efficient, timely and emission-reducing voyage planning for ships. However, current methods do not consider dynamic conditions of waterways and traffic. Due to these dynamic navigational conditions the static speed planning methods do not guarantee optimality, nor do they satisfy the constraints of the optimization problem throughout the journey. In this paper we propose an optimization structure that is based on the Model Predictive Control algorithm, which uses the most current information on water depth, water speed and expected delays to re-optimize the speed planning throughout the journey. Through a use case we show a 4.31% energy reduction compared to other speed planning strategies. Additionally, we show that the constraints regarding desired arrival times and safety are satisfied throughout the journey. Therefore, the method proves useful from a logistical, energy, emissions, and safety perspective. Modelling of uncertainties, lock interactions and predictions of waterway conditions will make our method an even more attractive option for speed planning.