optimal maneuvering and control of cooperative vessels...

Optimal Maneuvering and Control of CooperativeVessels within HarborsJan-Jöran Gehrt, René Zweigel, Sylvain Roy, Christoph Büskens, Martin Kurowski, Thorsten Jeinsch, Agnes Schubert, Michael Gluch, Olaf Simanski, Eloy Pairet-Garcia, Wilko Bruhn, Frank Diegel, Dirk Abel

MTEC 2019 | Trondheim14.11.2019

2Universität Bremen

Why Automatization?Some examples

Increasedsafety

Maneuvring at physical limits

Consideringenvironmentprotection

Reduction ofoperational costs

(IMO.de,2015)©ZeTeM/UB

©Voith Turbo

ECA, Tier III

Intelligent data

analysisMaintenance

planning

Fleatmanage-

mentTraffic flow

management

Other business

cases

(Rechnungswesen-verstehen.de)

Permanent data availability enables:



Requirements for Autonomous Operation

WarentransportCommunication network

WarentransportLocalization and system states

WarentransportRobust and fault-tolerant control

WarentransportSystem safety and integrity

WarentransportCooperative operation



First Project Phase Result: Encountering Scenario With Networked Unmanned Surface Vehicles (USV) in Rostock

© ITMZ | Universität Rostock



[BSH]

GALILEOnautic 2 (started in 10/2018)Transition from Networked Demonstrator to Real Ships

[HS Wismar] [Uni Rostock]Ship Simulator (Wismar)• Complex Ship models• Reproducible simulative

disturbances

USV (Rostock)• real maritime conditions• real word disturbances

Simulation (Wismar/Bremen)

[RWTH Aachen]

IRT-Buggy (Aachen)• Real world disturbance• Real world communication • Real vehicle trajectory control

[Uni Bremen]



Autonomous VesselsFunded Research Project GALILEOnautic 2

GALILEOnautic 2Autonomous Navigation and Optimal Maneuvering of Cooperative Shipswithin Safety-Critical Areas

10/2018 - 03/2021

Main objectiveDevelopment of a networked and cooperative demonstrator to show thepotential of autonomous navigation and optimal maneuvering and integratekey technology in industrial products



GALILEOnautic 2 – Project Goal

[BSH]



GALILEOnautic 2

ReliableLocalization and

Control ofMaritime

Systems withinNetworks

RWTH Aachen

Online-CapableOptimal Control for Networked

Maritme Systems

Robust and Fault-Tolerant Ship Control

Universität Rostock

Assisted ShipNavigation and

Maneuvring; autom. Docking

Optimized Data Transmission

and ConnectedExternalServices

Bridge Development for

AutomaticVessels

Maritime Information

Platform

Universität Bremen

Hochschule Wismar

SCISYS GmbH

RaytheonAnschütz

TRENZ GmbH

Autonomous Navigation and Optimal Maneuvering of Cooperative Ships within Safety-Critical Areas



GALILEOnautic 2 - Project Partners (left) and Associated Partners (right)

Hafenlotsen-gesellschaft

Bremerhaven

Optimized Data Transmission and

ConnectedExternal Services

Online-CapableOptimal Control forNetworked Maritme

Systems

Assisted ShipNavigation and

Maneuvring; autom. Docking

Robust and Fault-Tolerant Ship ControlMaritime

InformationPlatform

Reliable Localizationand Control of Maritime

Systems withinNetworks

Bridge Development for Automatic

Vessels



Introduction GALILEOnautic 2

GNC Concept

GNC DENEB Integration

Evaluation Szenario

Conclusion



Control System ConceptNetworked Control from Superordinate Level View



Communication Concept

Central Data Hubo Monitoring & Controlo Data Analysis

Vessels connect and communicate via LTE (future 5G)o Internet access allows

integration of available external data and services

o IoT-Protocols can be appliedwith ease (MQTT, DDS)

Include non networkedvessels with AIS data

Ship DataAlerts

TrajectoriesExternal Data

Alerts



Classification and Fusion of DataDynamic Map

• Classification of recognized environment

Ashore

Sea

Traffic Participants:: Networked vessels: Ships with AIS: Obstacles

AIS

AIS

AIS

AIS

Central Unit




GNC Concept


Evaluation Szenario

Conclusion



Control System Concept for DENEBSingle Ship control level: GNC adaptations for fault diagnosis and fault tolerance

Robust Trajectory Tracking

FDI/FTC as multi-layer structureo Checks for actuator

and sensor healtho Model-based

system dynamicscheck

o Virtual sensorand actuator forredundancygeneration

o Supervisor-basedreconfiguration



Synapsis NX processes data from Conventional navigation sensors from the experimental vehicle and Additional project-specific sensors to enable high-precision maneuvering, e.g. in narrow fairways and harbor basins.

Integration of GNC Concept in Raytheon Anschütz‘ SYNAPSIS NX bridgeSensor data integration & management

Ship Propulsion Data

Heading Sensor

X-Band Radar

AIS

Position Receivers

Doppler Velocity Log

Meteorological Sensors

Echo Sounder

S-Band Radar

EM Velocity Log

Short Range Radar

Inertial Measurement Unit

Position Receivers

Doppler Velocity Log

Lidar

Automation Control Data



Bringing Raytheon Anschütz SYNAPSIS on BoardMeasurement campaign Rostock 09/2019




GNC Concept


Evaluation Szenario

Conclusion



DENEB/SYNAPSIS Use-Case-ScenariosCooperative Maneuvering on SAE 2 Level

USV SMIS

USV MESSIN

DENEB




USV SMIS

USV MESSIN

DENEB

• Demonstrate the capability of cooperative maneuvering with networked vessels by causing a collision avoidance szenario with at least three participants.

• Super ordinate trajectory planning taking care of fairway and infrastructure.

• It is visible that optimal trajectory planning reduces the amount of energy for the whole network, e.g. giving priority to the more heavy and less maneuverable vessel.

Cooperative Scenario




USV SMIS

USV MESSIN

DENEB

• Demonstrate the capability of independently acting DENEB to do collision avoidance without receiving optimal trajectories from the super ordinate Central Server

• Show that potential collision partners are recognized with the proximity recognition system and AIS.

Single Operation Scenario




GNC Concept


Evaluation Szenario

Conclusion



Discussion / Conclusion

Results achieved

Development of networked control concept

LTE based communication

Efficient and save maneuvering in restricted areas / Collision avoidance

Proof of concept with USVs

Data collection and recording of DENEB on measurement campaign in late summer 2019

Future Work

Testing of Szenarios with DENEB in Spring / Summer 2020

Local autonomous and central supervised operation modes on SAE Level 2

Automatic Docking on SAE Level 3

Thank you for your attention!

[email protected]

[email protected]

optimal maneuvering and control of cooperative vessels...

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