内河自主船舶协同避碰的分布式MPC
Distributed MPC for autonomous ships on inland waterways with collaborative collision avoidance
AI总结：
本文提出了一种针对内河自主船舶的分布式MPC方法，通过双层框架和交替方向乘子法实现协同避碰，兼顾安全与效率。
摘要：
本文提出了一种分布式解决方案，用于解决自主内河船舶的协同避碰问题。本文提出了一种双层避碰框架，考虑了内河航运交通规则，以提高自主船舶的航行安全性。我们的方法允许在不改变避碰算法的情况下修改交通规则，并基于一种新的模型预测控制（MPC）形式用于船舶避碰。该MPC形式针对内河航运交通设计，能够处理复杂场景。交替方向乘子法被用作船舶之间交换和协商意图的方案。仿真结果表明，所提出的算法可以遵守交通规则。此外，当有必要时，所提出的算法可以安全地偏离交通规则以提高复杂场景下的效率。
英文摘要：
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed to increase navigational safety for autonomous ships. Our approach allows for modifying traffic rules without changing the collision avoidance algorithm, and is based on a novel formulation of model predictive control (MPC) for collision avoidance of ships. This MPC formulation is designed for inland waterway traffic and can handle complex scenarios. The alternating direction method of multipliers is used as a scheme for exchanging and negotiating intentions among ships. Simulation results show that the proposed algorithm can comply with traffic rules. Furthermore, the proposed algorithm can safely deviate from traffic rules when necessary to increase efficiency in complex scenarios.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
