Parallel distributed collision avoidance with intention consensus based on ADMM

Journal article (2024)

Authors

Hoang Anh Tran Norwegian University of Science and Technology (NTNU)
Tor Arne Johansen Norwegian University of Science and Technology (NTNU)
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2024

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

This paper presents an approach to the problem of collaborative collision avoidance of autonomous inland ships. We propose a distributed model predictive control algorithm that allows ships to negotiate their intention to collaboratively avoid collisions directly. Furthermore, a new method is introduced to better shape ships' behavior in order to follow Traffic regulations. The simulation results illustrate that the proposed algorithm could significantly increase ship safety navigation. Moreover, it also shows that the solution proposed by our algorithm complies with waterway Traffic regulations except in complex situations when other safe solutions are negotiated.