Extracting Maritime Traffic Networks from AIS Data Using Evolutionary Algorithm

The presented method reconstructs a network (a graph) from AIS data, which reflects vessel traffic and can be used for route planning. The approach consists of three main steps: maneuvering points detection, waypoints discovery, and edge construction. The maneuvering points detection uses the CUSUM method and reduces the amount of data for further processing. The genetic algorithm with spatial partitioning is used for waypoints discovery. Finally, edges connecting these waypoints form the final maritime traffic network. The approach aims at advancing the practice of maritime voyage planning, which is typically done manually by a ship’s navigation officer. The authors demonstrate the results of the implementation using Apache Spark, a popular distributed and parallel computing framework. The method is evaluated by comparing the results with an on-line voyage planning application. The evaluation shows that the approach has the capacity to generate a graph which resembles the real-world maritime traffic network

Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

MODELLING AND SYSTEMATIC EVALUATION OF MARITIME TRAFFIC SITUATION IN COMPLEX WATERS

Maritime Situational Awareness (MSA) plays a vital role in the development of intelligent transportation support systems. The surge in maritime traffic, combined with increasing vessel sizes and speeds, has intensified the complexity and risk of maritime traffic. This escalation presents a considerable challenge to the current systems and tools dedicated to maritime traffic monitoring and management. Meanwhile, the existing literature on advanced MSA methods and techniques is relatively limited, especially when it comes to addressing multi-ship interactions that may involve hybrid traffic of manned ships and emerging autonomous ships in complex and restricted waters in the future. The primary research question revolves around the challenge faced by current collision risk models in incorporating the impact of traffic characteristics in complex waters. This limitation hampers their effectiveness in managing complex maritime traffic situations. In view of this, the research aims to investigate and analyse the traffic characteristics in complex port waters and develop a set of advanced MSA methods and models in a holistic manner, so as to enhance maritime traffic situation perception capabilities and strengthen decision-making on anti-collision risk control. This study starts with probabilistic conflict detection by incorporating the dynamics and uncertainty that may be involved in ship movements. Then, the conflict criticality and spatial distance indicators are used together to partition the regional ship traffic into several compact, scalable, and interpretable clusters from both static and dynamic perspectives. On this basis, a systematic multi-scale collision risk approach is newly proposed to estimate the collision risk of a given traffic scenario from different spatial scales. The novelty of this research lies not only in the development of new modelling techniques on MSA that have never been done by using various advanced techniques (e.g., Monte Carlo simulation, image processing techniques, graph-based clustering techniques, complex network theory, and fuzzy clustering iterative method) but also in the consideration of the impact of traffic characteristics in complex waters, such as multi-dependent conflicts, restricted water topography, and dynamic and uncertain ship motion behaviours. Extensive numerical experiments based on real AIS data in the world's busiest and most complex water area (i.e., Ningbo_Zhoushan Port, China) are carried out to evaluate the models’ performance. The research results show that the proposed models have rational and reliable performance in detecting potential collision danger under an uncertain environment, identifying high-risk traffic clusters, offering a complete comprehension of a traffic situation, and supporting strategic maritime safety management. These developed techniques and models provide useful insights and valuable implications for maritime practitioners on traffic surveillance and management, benefiting the safety and efficiency enhancement of maritime transportation. The research can also be tailored for a wide range of applications given its generalization ability in tackling various traffic scenarios in complex waters. It is believed that this work would make significant contributions in terms of 1) improving traffic safety management from an operational perspective without high financial requirements on infrastructure updating and 2) effectively supporting intelligent maritime surveillance and serving as a theoretical basis of promoting maritime safety management for the complex traffic of mixed manned and autonomous ships

Multi Sensor Multi Target Perception and Tracking for Informed Decisions in Public Road Scenarios

Multi-target tracking in public traffic calls for a tracking system with automated track initiation and termination facilities in a randomly evolving driving environment. Besides, the key problem of data association needs to be handled effectively considering the limitations in the computational resources on-board an autonomous car. The challenge of the tracking problem is further evident in the use of high-resolution automotive sensors which return multiple detections per object. Furthermore, it is customary to use multiple sensors that cover different and/or over-lapping Field of View and fuse sensor detections to provide robust and reliable tracking. As a consequence, in high-resolution multi-sensor settings, the data association uncertainty, and the corresponding tracking complexity increases pointing to a systematic approach to handle and process sensor detections. In this work, we present a multi-target tracking system that addresses target birth/initiation and death/termination processes with automatic track management features. These tracking functionalities can help facilitate perception during common events in public traffic as participants (suddenly) change lanes, navigate intersections, overtake and/or brake in emergencies, etc. Various tracking approaches including the ones based on joint integrated probability data association (JIPDA) filter, Linear Multi-target Integrated Probabilistic Data Association (LMIPDA) Filter, and their multi-detection variants are adapted to specifically include algorithms that handle track initiation and termination, clutter density estimation and track management. The utility of the filtering module is further elaborated by integrating it into a trajectory tracking problem based on model predictive control. To cope with tracking complexity in the case of multiple high-resolution sensors, we propose a hybrid scheme that combines the approaches of data clustering at the local sensor and multiple detections tracking schemes at the fusion layer. We implement a track-to-track fusion scheme that de-correlates local (sensor) tracks to avoid double counting and apply a measurement partitioning scheme to re-purpose the LMIPDA tracking algorithm to multi-detection cases. In addition to the measurement partitioning approach, a joint extent and kinematic state estimation scheme are integrated into the LMIPDA approach to facilitate perception and tracking of an individual as well as group targets as applied to multi-lane public traffic. We formulate the tracking problem as a two hierarchical layer. This arrangement enhances the multi-target tracking performance in situations including but not limited to target initialization(birth process), target occlusion, missed detections, unresolved measurement, target maneuver, etc. Also, target groups expose complex individual target interactions to help in situation assessment which is challenging to capture otherwise. The simulation studies are complemented by experimental studies performed on single and multiple (group) targets. Target detections are collected from a high-resolution radar at a frequency of 20Hz; whereas RTK-GPS data is made available as ground truth for one of the target vehicle\u27s trajectory

Multiple-Aspect Analysis of Semantic Trajectories

This open access book constitutes the refereed post-conference proceedings of the First International Workshop on Multiple-Aspect Analysis of Semantic Trajectories, MASTER 2019, held in conjunction with the 19th European Conference on Machine Learning and Knowledge Discovery in Databases, ECML PKDD 2019, in Würzburg, Germany, in September 2019. The 8 full papers presented were carefully reviewed and selected from 12 submissions. They represent an interesting mix of techniques to solve recurrent as well as new problems in the semantic trajectory domain, such as data representation models, data management systems, machine learning approaches for anomaly detection, and common pathways identification

Reliable Navigational Scene Perception for Autonomous Ships in Maritime Environment

Due to significant advances in robotics and transportation, research on autonomous ships has attracted considerable attention. The most critical task is to make the ships capable of accurately, reliably, and intelligently detecting their surroundings to achieve high levels of autonomy. Three deep learning-based models are constructed in this thesis to perform complex perceptual tasks such as identifying ships, analysing encounter situations, and recognising water surface objects. In this thesis, sensors, including the Automatic Identification System (AIS) and cameras, provide critical information for scene perception. Specifically, the AIS enables mid-range and long-range detection, assisting the decision-making system to take suitable and decisive action. A Convolutional Neural Network-Ship Movement Modes Classification (CNN-SMMC) is used to detect ships or objects. Following that, a Semi- Supervised Convolutional Encoder-Decoder Network (SCEDN) is developed to classify ship encounter situations and make a collision avoidance plan for the moving ships or objects. Additionally, cameras are used to detect short-range objects, a supplementary solution to ships or objects not equipped with an AIS. A Water Obstacle Detection Network based on Image Segmentation (WODIS) is developed to find potential threat targets. A series of quantifiable experiments have demonstrated that these models can provide reliable scene perception for autonomous ships

A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES

The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.J&S MARINE LT

DBSCANを用いたAISデータに基づく海上交通状況の分類に関する研究

東京海洋大学修士学位論文 2022年度(2022年9月) 海運ロジスティクス 修士 第3877号指導教員: 渡部大輔全文公表年月日: 2022-12-22東京海洋大学202