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| Title: | Parallel distributed collision avoidance with intention consensus based on ADMM | | | Authors: | H. Anh Tran, T.A. Johansen, R.R. Negenborn |
| | Conference: | 17th IFAC Symposium on Control in Transportation Systems (IFAC CTS 2024) | | Address: | Agia Napa, Cyprus | | Date: | July 2024 |
| | Abstract: | This paper presents an approach to the problem of collaborative collision 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 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 in most cases. |
| | Reference: | Parallel distributed collision avoidance with intention consensus based on ADMM. H. Anh Tran, T.A. Johansen, R.R. Negenborn. Accepted for the 17th IFAC Symposium on Control in Transportation Systems (IFAC CTS 2024), Agia Napa, Cyprus, July 2024. | | | Request: | A
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