Publications       Rudy Negenborn
Associate Professor
Director of Studies MSc TIL
Team & Themes

Title:Model predictive control of a waterborne AGV at the operational level
Authors:H. Zheng, R.R. Negenborn, G. Lodewijks

Conference:International Maritime and Port Technology and Development Conference (MTEC 2014)
Address:Trondheim, Norway
Date:October 2014

Abstract:Increasing container transport volume has been seen not only inside container terminals, but also among terminals in the port area, known as Inter Terminal Transport (ITT). While conventional Automated Guided Vehicles (AGVs) have been put into practice to enhance efficiency inside Automated Container Terminals, this paper proposes the novel concept of waterborne Automated Guided Vessels (w-AGVs) for the application of ITT. Given route and timing information, a controller guaranteeing both smooth path conver-gence and required time of arrival (RTA) at the operational level is proposed. Path convergence is achieved by introducing a path parameter, adding one extra degree of freedom to the original optimization problem. RTA is approximately guaranteed considering both the distance-to-go and time-to-go in terms of the current position. Model Predictive Control (MPC) is proposed for solving the control problem formulated for its advantages of being optimization-oriented and able to explicitly handle various constraints. The possible online computational burden of MPC is eased by a successive linearization around a seed trajectory from the previous step. Furthermore, an iterative framework is implemented to account for the linearization errors. Simulation tests are run based on a small-scale vessel model to demonstrate the effectiveness of the proposed scheme in terms of solving the control problem of a w-AGV system at the operational level.

Reference:H. Zheng, R.R. Negenborn, G. Lodewijks. Model predictive control of a waterborne AGV at the operational level. In Proceedings of the International Maritime and Port Technology and Development Conference (MTEC 2014), Trondheim, Norway, pp. 99-108, October 2014.
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