{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:38:39Z","timestamp":1762522719249},"reference-count":20,"publisher":"Walter de Gruyter GmbH","issue":"5","funder":[{"DOI":"10.13039\/501100006360","name":"Bundesministerium f\u00fcr Wirtschaft und Energie","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100006360","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,25]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>The automation of ships will in the long run enable new mobility concepts and profitable business models both for offshore and inland vessels. However, automation in shipping can already today offer significant benefits for the environment as well as for the safety of people, infrastructure and the vessel itself. To gain these advantages, sophisticated sensors, reliable propulsion systems and intelligent algorithms are required. In this context, the project AKOON is investigating the potential of the automation of a river ferry. The ferry under investigation operates on the Rhine near Mainz in Germany and is being converted to a fully automated vessel as part of the research project. This article gives an overview of the guidance, navigation and control (GNC) modules of the automation with focus on the trajectory planning and trajectory tracking modules. The trajectory planning uses hybrid-state A* to find safe and fuel-efficient routes. The subsequent trajectory tracking is achieved by a two-level approach that uses a state-space controller and an optimization-based thrust allocation to efficiently operate the over-actuated propulsion system consisting of four cycloidal propellers. Results from a high-fidelity vessel simulator based on state-of-the-art hydrodynamic simulations show that the presented approach allows the generation of collision-free reference trajectories, that can be tracked safely even in cases of model mismatches and disturbances.<\/jats:p>","DOI":"10.1515\/auto-2021-0152","type":"journal-article","created":{"date-parts":[[2022,5,12]],"date-time":"2022-05-12T07:18:48Z","timestamp":1652339928000},"page":"433-443","source":"Crossref","is-referenced-by-count":7,"title":["Towards semi-autonomous operation of an over-actuated river ferry"],"prefix":"10.1515","volume":"70","author":[{"given":"Philipp","family":"Koschorrek","sequence":"first","affiliation":[{"name":"J.M. Voith SE & Co. KG | VTA , Heidenheim , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Martin","family":"Kosch","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control , RWTH Aachen University , Aachen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maximilian","family":"Nitsch","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control , RWTH Aachen University , Aachen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dirk","family":"Abel","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control , RWTH Aachen University , Aachen , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dirk","family":"J\u00fcrgens","sequence":"additional","affiliation":[{"name":"J.M. Voith SE & Co. KG | VTA , Heidenheim , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2022,5,12]]},"reference":[{"key":"2023033111412072347_j_auto-2021-0152_ref_001","doi-asserted-by":"crossref","unstructured":"Alfheim, H.L., K. Muggerud, M. Breivik, E.F. Brekke, E. Eide and \u00d8. Engelhardtsen. 2018. Development of a dynamic positioning system for the ReVolt model ship. IFAC-PapersOnLine, 51 (29): 116\u2013121. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS) 2018.","DOI":"10.1016\/j.ifacol.2018.09.479"},{"key":"2023033111412072347_j_auto-2021-0152_ref_002","unstructured":"Safety Allianz. 2012. Shipping 1912\u20132012, From Titanic to Costa Concordia. Allianz Global Corporate & Specialty, Munich, Germany."},{"key":"2023033111412072347_j_auto-2021-0152_ref_003","doi-asserted-by":"crossref","unstructured":"Arditti, F., H. Cozijn, F.G. Van Daalen and E.A. Tannuri. 2018. Dynamic positioning simulations of a thrust allocation algorithm considering hydrodynamic interactions. IFAC-PapersOnLine 51 (29): 122\u2013127. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS) 2018.","DOI":"10.1016\/j.ifacol.2018.09.480"},{"key":"2023033111412072347_j_auto-2021-0152_ref_004","doi-asserted-by":"crossref","unstructured":"Bitar, G., Eriksen B.-O.H., A.M. Lekkas and M. Breivik. 2021. Three-phase automatic crossing for a passenger ferry with field trials. In 2021 European Control Conference (ECC), pp.\u20092271\u20132277.","DOI":"10.23919\/ECC54610.2021.9655139"},{"key":"2023033111412072347_j_auto-2021-0152_ref_005","doi-asserted-by":"crossref","unstructured":"Bitar, G., A.B. Martinsen, A.M. Lekkas and M. Breivik. 2020. Two-stage optimized trajectory planning for ASVs under polygonal obstacle constraints: Theory and experiments. IEEE Access 8: 199953\u2013199969.","DOI":"10.1109\/ACCESS.2020.3035256"},{"key":"2023033111412072347_j_auto-2021-0152_ref_006","unstructured":"Dolgov, D., S. Thrun, M. Montemerlo and J. Diebel. 2008. Practical search techniques in path planning for autonomous driving. Ann Arbor 1001 (48105): 18\u201380."},{"key":"2023033111412072347_j_auto-2021-0152_ref_007","doi-asserted-by":"crossref","unstructured":"Fossen, T.I. 2011. Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley.","DOI":"10.1002\/9781119994138"},{"key":"2023033111412072347_j_auto-2021-0152_ref_008","unstructured":"DNV GL. 2018. Autonomous and remotely operated ships. Technical Report DNVGL-CG-0264, DNV GL."},{"key":"2023033111412072347_j_auto-2021-0152_ref_009","unstructured":"Groves, P.D. 2013. Principles of GNSS, inertial, and multisensor integrated navigation systems, 2nd edn. GNSS technology and application series. Artech House, Boston."},{"key":"2023033111412072347_j_auto-2021-0152_ref_010","doi-asserted-by":"crossref","unstructured":"Kosch, M., A. Elkhashap, P. Koschorrek, R. Zweigel and D. Abel. 2021. Hardware-in-the-loop trajectory tracking and collision avoidance of automated inland vessels using model predictive control. In 2021 European Control Conference (ECC), pp.\u20092251\u20132256.","DOI":"10.23919\/ECC54610.2021.9655183"},{"key":"2023033111412072347_j_auto-2021-0152_ref_011","doi-asserted-by":"crossref","unstructured":"Kosch, M., R. Zweigel and D. Abel. 2020. Online estimation of near-surface water current fields using horizontally mounted adcps on inland vessels. In 2020 European Navigation Conference (ENC), pp.\u20091\u201310.","DOI":"10.23919\/ENC48637.2020.9317463"},{"key":"2023033111412072347_j_auto-2021-0152_ref_012","doi-asserted-by":"crossref","unstructured":"Koschorrek, P. and M. Kosch. 2021. An Approach to QP-based Thrust Allocation considering Inflow. In Control Applications in Marine Systems, Robotics, and Vehicles (CAMS) 2021.","DOI":"10.1016\/j.ifacol.2021.10.083"},{"key":"2023033111412072347_j_auto-2021-0152_ref_013","doi-asserted-by":"crossref","unstructured":"Koschorrek, P., M. Palm and T. Jeinsch. 2017. A Dynamic Allocation Strategy for Voith Schneider Propeller. IFAC-PapersOnLine, 50 (1): 1127\u20131132.","DOI":"10.1016\/j.ifacol.2017.08.395"},{"key":"2023033111412072347_j_auto-2021-0152_ref_014","doi-asserted-by":"crossref","unstructured":"Laub, A. 1979. A Schur method for solving algebraic Riccati equations. IEEE Trans. Automat. Control 24 (6): 913\u2013921.","DOI":"10.1109\/TAC.1979.1102178"},{"key":"2023033111412072347_j_auto-2021-0152_ref_015","doi-asserted-by":"crossref","unstructured":"Nitsch, M., J.-J. Gehrt, R. Zweigel and D. Abel. 2021. Tightly Coupled INS-GNSS Navigation Filter for the Automation of a River Ferry. In Control Applications in Marine Systems, Robotics, and Vehicles (CAMS) 2021.","DOI":"10.1016\/j.ifacol.2021.10.085"},{"key":"2023033111412072347_j_auto-2021-0152_ref_016","doi-asserted-by":"crossref","unstructured":"Rivkin, B. 2021. Unmanned ships: Navigation and more. Gyroscopy Navig. 12: 96\u2013108.","DOI":"10.1134\/S2075108721010090"},{"key":"2023033111412072347_j_auto-2021-0152_ref_017","unstructured":"Ruth, E.. 2008. Propulsion control and thrust allocation on marine vessels. Doctoral thesis, Fakultet for ingeni\u00f8rvitenskap og teknologi, NTNU."},{"key":"2023033111412072347_j_auto-2021-0152_ref_018","unstructured":"Sontag, E. 2013. Mathematical Control Theory: Deterministic Finite Dimensional Systems. Texts in Applied Mathematics. Springer, New York."},{"key":"2023033111412072347_j_auto-2021-0152_ref_019","doi-asserted-by":"crossref","unstructured":"Thyri, E.H., M. Breivik and A.M. Lekkas. 2020. A path-velocity decomposition approach to collision avoidance for autonomous passenger ferries in confined waters. IFAC-PapersOnLine, 53 (2): 14628\u201314635, 21st IFAC World Congress.","DOI":"10.1016\/j.ifacol.2020.12.1472"},{"key":"2023033111412072347_j_auto-2021-0152_ref_020","unstructured":"Wan, E.A. and R. Van Der Merwe. 2000. The unscented Kalman filter for nonlinear estimation. In IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.\u200900EX373), pp.\u2009153\u2013158."}],"container-title":["at - Automatisierungstechnik"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2021-0152\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2021-0152\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,3,31]],"date-time":"2023-03-31T15:14:38Z","timestamp":1680275678000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2021-0152\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,1]]},"references-count":20,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,5,12]]},"published-print":{"date-parts":[[2022,5,25]]}},"alternative-id":["10.1515\/auto-2021-0152"],"URL":"https:\/\/doi.org\/10.1515\/auto-2021-0152","relation":{},"ISSN":["2196-677X","0178-2312"],"issn-type":[{"value":"2196-677X","type":"electronic"},{"value":"0178-2312","type":"print"}],"subject":[],"published":{"date-parts":[[2022,5,1]]}}}