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Data-driven model predictive control for vehicle path-tracking using a recurrent neural network

IFAC-PapersOnLine 2024年第29期58卷 367-372页

作者： Jian Yi Xialai Wu Ling Lin Jiabin Qin Junghui Chen *Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems Huzhou University Huzhou 313000 China **Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems Huzhou University Huzhou 313000 China ***Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems Huzhou University Huzhou 313000 China ****Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems Huzhou University Huzhou 313000 China *****Department of Chemical Engineering Chung-Yuan Christian University Taoyuan Taiwan 32023 Republic of China

Path tracking control is crucial for autonomous vehicle driving. Traditional nonlinear model predictive control (NMPC) for path tracking demands extensive computation, making real-time implementation challenging. This paper introduces a Fast Model Predictive Control (FMPC) method for vehicle path tracking, utilizing a recurrent neural network (RNN) with symmetric saturating linear transfer functions (SSL-RNN) in the hidden layer. The proposed approach leverages the SSL-RNN model to accurately capture vehicle dynamics. Consequently, the optimal control problem in MPC is reformulated as a mixed integer linear programming problem, facilitating swift solutions. Simulation experiments validate the proposed method's efficacy. Compared to traditional vehicle mechanism model-based MPC and RNN-based NMPC, our FMPC demonstrates superior accuracy in path tracking and significantly enhances controller solution efficiency.

关键词： model predictive control mixed integer linear programming symmetric saturating linear transfer function recurrent neural network vehicle path tracking

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On the Problem of Increasing the Railway Station Capacity

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AUTOMATION AND REMOTE CONTROL 2021年第1期82卷 102-114页

作者： Ignatov, A. N. Naumov, A., V Moscow Inst Aviat Technol Moscow 125993 Russia

We consider the problem of increasing the capacity of a railway station taking into account some basic timetable for the station. To this end, the time and route for each additional train are determined by solving a set of mixed integer linear programming problems. A scheme is proposed to take into account the influence of random delays in the movement of trains on the possibility of their passage through the railway station. The results of a numerical experiment are presented.

关键词： railway station capacity graph mixed integer linear programming

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Real-time integrated train rescheduling and rolling stock circulation planning for a metro line under disruptions

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TRANSPORTATION RESEARCH PART B-METHODOLOGICAL 2021年 152卷 87-117页

作者： Wang, Yihui Zhao, Kangqi D'Ariano, Andrea Niu, Ru Li, Shukai Luan, Xiaojie Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China Roma Tre Univ Dept Engn I-00146 Rome Italy Swiss Fed Inst Technol Inst Transport Planning & Syst IVT Stefano Franscini Pl 5 CH-8093 Zurich Switzerland

More and more unexpected events occur in metro systems, which may cause serious disturbances and even disruptions for the operation of trains. This paper studies an integrated train rescheduling and rolling stock circulation planning problem for the complete blockage situations in a metro line. We consider several key practical train operation constraints, including the maximum number of available rolling stocks, the turnaround constraints, the service connection constraints. This problem is viewed as a complex multi-objective mixed integer linear programming (MILP) formulation, where the objectives involve the deviations with respect to the timetable, the (partial) cancellations, and the headway deviations of train services. A two-stage approach is also developed to enhance the computational efficiency, where a smaller-size optimization problem is solved in the first stage, by considering a set of key turnaround stations only, while the original MILP problem is solved in the second stage by fixing some binary variables according to the first stage solution. In addition, we propose a heuristic technique that is based on introducing a new set of constraints to reduce the search space without eliminating potentially good solutions. Comprehensive experiments are investigated based on the practical data of Beijing Subway Lines, where the proposed integrated models and approaches yield much better solutions when compared with a widely used strategy, i.e., holding (waiting at station) strategy and the sequential approach. Moreover, the impacts of the complete blockage locations/durations and the effects of different weight settings in the multi-objective optimization are deeply analyzed.

关键词： Metro lines Complete track blockage Railway traffic management Rolling stock circulation Short-turning mixed integer linear programming

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WEEE closed-loop supply chain network management considering the damage levels of returned products (Oct, 10.1007/s11356-020-10249-6, 2020)

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ENVIRONMENTAL SCIENCE AND POLLUTION RESEARCH 2021年第7期28卷 7805-7805页

作者： Polat, Leyla Ozgur Gungor, Askiner Pamukkale Univ Dept Ind Engn TR-20160 Denizli Turkey

Due to economic, social, and environmental concerns, managing waste electrical and electronic equipment (WEEE) has become an important research area. The WEEE directive gives responsibility to producers for developing a system for recycling and disposal activities and handle all associated costs. This study proposes a mixed integer programming model for decision-makers to manage their activities on the WEEE closed-loop supply chain network. A decision-maker may be a single producer of any size or a managing body formed by a group of producers and/or third-party companies in the network. The model contributes to the research field by integrating product returns with different quality and damage levels. A set of scenarios was designed to evaluate the effects of the directive and the network design related issues (e.g., the minimum collection rates, the number of producers and stores in the network) on the objective function. The results indicate that the capacity balance among stores, producers, and recovery centers is vital to make the network profitable and sustainable.

关键词： Waste electrical and electronic equipment E-waste Closed-loop supply chain network Recycling mixed integer linear programming

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A new model for minimizing the electric vehicle battery capacity in electric travelling salesman problem with time windows

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TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES 2021年第5期29卷 2545-2560页

作者： Erdogdu, Kazim Karabulut, Korhan Yasar Univ Fac Engn Dept Software Engn Izmir Turkey

The growing pollution in the environment and the negative shift in the global climate compel authorities to take action to protect the environment and human health. Transportation is one of the major contributors to this environmental decay. The harmful gases released to the air by the vehicles using petroleum fuel increase each day. One of the solutions is to make a gradual transition to electric vehicles. A major part of manufacturing an electric vehicle is to produce an efficient electric motor and battery for it. Reducing the manufacturing and operating costs of these components will result in reducing the overall costs of electric vehicles. In this study, a new variant of the electric travelling salesman problem with time windows (E-TSPTW) was proposed. The objective function of the problem is to minimize the required initial battery capacity of the electric vehicle. For this goal, a new energy consumption model considering the load of the vehicle was proposed with three scenarios. The proposed model was solved with a hybrid simulated annealing algorithm for all these scenarios. The performance of the proposed method was compared to the solutions found by a mixed integer linear programming model. The experimental results on the benchmark instances show that up to a 35% reduction in initial battery capacity, hence reduction in its cost is possible.

关键词： Electric travelling salesman problem with time windows energy consumption battery capacity mixed integer linear programming simulated annealing

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Design of Setting Group-Based Overcurrent Protection Scheme for Active Distribution Networks Using MILP

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IEEE TRANSACTIONS ON SMART GRID 2021年第2期12卷 1185-1193页

作者： Ghotbi-Maleki, Mahdi Chabanloo, Reza Mohammadi Zeineldin, Hatem H. Miangafsheh, Seyed Mohammad Hosseini Shahid Beheshti Univ Dept Elect Engn Tehran *** Iran Cairo Univ Fac Engn Giza 12316 Egypt

In active distribution networks, system reconfiguration and connection/disconnection of distributed generation (DG) can result in protection coordination failure of overcurrent relays. Determining one set of optimal relay settings that would satisfy all possible network topologies is either infeasible or results in high relay operating times. To address this problem, recently the concept of clustering the various network topologies into a limited set is proposed where an optimal Setting Group (SG) is determined for each network topology cluster. This article proposes a novel problem formulation that simultaneously obtains the optimal relay SG and network topology clusters. Due to the complexity and non-linearity of the SG protection coordination problem, the SG protection coordination problem is reformulated as a mixed-integer linear programming (MILP) problem. The effect of the relay characteristic type on reducing the operating times of relays is also investigated. Comparative analysis is provided that highlight the superior performance of MILP over other heuristic optimization techniques. Data exchange between circuit breakers, DGs, CPU and relays are developed based on the IEC 61850 standard to illustrate the implementation of the proposed adaptive protection scheme on real networks.

关键词： Relays Network topology Circuit breakers Fault currents IEC Standards Adaptive systems Active distribution network adaptive protection distributed generation mixed integer linear programming

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Grocery distribution plans in urban networks with street crossing penalties

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NETWORKS 2021年第3期78卷 248-263页

作者： Cerrone, Carmine Cerulli, Raffaele Sciomachen, Anna Univ Genoa Dept Econ & Business Studies Genoa Italy Univ Salerno Dept Math Fisciano Sa Italy

Following the emergency caused by the Covid-19 pandemic, there is the need, among other measures, to modify urban mobility plans in order to reduce the use of collective public transport, reducing the crowding of people while also preventing traffic congestion through discouraging the use of private vehicles. From this perspective, retail companies operating within cities must also reorganize themselves, considering both the unpredictable requirements of environmental sustainability and the new mobility needs calling for the promotion of bicycles and electric scooters. In this context, we deal with the need to determine minimum cost routes in urban areas for delivering orders placed through e-channels. More precisely, we face a variant of the green vehicle routing problem of heterogeneous fleets, in which the objective function includes environmental impact cost components that differ by vehicle type. Moreover, as a novel issue, attention must be paid to avoid crossing and passing close to bicycle lanes;therefore, penalties are associated with the transit of vehicles near bicycle lanes. To address this problem, we propose a mixed integer linear programming model and a matheuristic associated with it. The proposed approach is then used to analyze different scenarios derived from the transportation network of the city of Milan, Italy. Milan is one of the smartest cities in Europe from the mobility point of view but also one of the most affected by the Covid-19 pandemic, and the municipality is making a big investment to promote the use of bicycles.

关键词： delivery problem matheuristic mixed integer linear programming urban networks

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Joint Optimization of Planning and Operation in Multi-Region Integrated Energy Systems Considering Flexible Demand Response

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IEEE ACCESS 2021年 9卷 75840-75863页

作者： Gao, Shan Song, Tiancheng E. Liu, Sai Zhou, Cheng Xu, Chenkai Guo, Haomin Li, Xiaogang Li, Zheng Liu, Yu Jiang, Weiyi Wang, Juncheng Wang, Sicheng Southeast Univ Sch Elect Engn Nanjing 210096 Peoples R China State Grid Jiangsu Elect Power Co Ltd Maintenance Branch Co Nanjing 211102 Peoples R China State Grid Jiangsu Elect Power Co Ltd Kunshan Power Supply Branch Co Kunshan 215300 Peoples R China State Grid Fujian Elect Power Co Ltd Xiamen Power Supply Co Xiamen 361004 Peoples R China

The multi-region integrated energy system (MRIES) is one promising option for exploiting the complementarity potentials between power system, thermal system and loads, as well as improving flexibility and economic competitiveness. However, the optimal planning has remained challenging since it involves multiple forms of energies with the nature of coupling. A mixed integer linear programming (MILP) model is proposed for joint optimization of MRIES planning and operation, which considers the flexible load's demand response (DR). It is realized by combining the multi-region heating network IES coupling model with the flexible cooling-heating-electric load DR model. The results show that the proposed model can assist planners to comprehensively analyze and evaluate the impacts of multiple factors on planning, and to determine the optimal planning configuration and operation strategy.

关键词： Heating systems Planning Load modeling Resistance heating Pipelines Maintenance engineering Capacity planning Multi-region integrated energy system regional thermal network flexible demand response planning and operation mixed integer linear programming

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Mathematical optimization approach for facility layout on several rows

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OPTIMIZATION LETTERS 2021年第1期15卷 9-23页

作者： Anjos, Miguel F. Vieira, Manuel V. C. Univ Edinburgh Sch Math Edinburgh Midlothian Scotland GERAD Montreal PQ Canada Univ Nova Lisboa Fac Ciencias & Tecnol Dept Matemat Lisbon Portugal Univ Nova Lisboa CMA Lisbon Portugal

The facility layout problem is concerned with finding an arrangement of non-overlapping indivisible departments within a facility so as to minimize the total expected flow cost. In this paper we consider the special case of multi-row layout in which all the departments are to be placed in three or more rows, and our focus is on, for the first time, solutions for large instances. We first propose a new mixed integer linear programming formulation that uses continuous variables to represent the departments' location in bothxandycoordinates, wherexrepresents the position of a department within a row andyrepresents the row assigned to the department. We prove that this formulation always achieves an optimal solution with integer values ofy, but it is limited to solving instances with up to 13 departments. This limitation motivates the application of a two-stage optimization algorithm that combines two mathematical optimization models by taking the output of the first-stage model as the input of the second-stage model. This algorithm is, to the best of our knowledge, the first one in the literature reporting solutions for instances with up to 100 departments.

关键词： Facilities planning and design Unequal-areas facility layout Row layout mixed integer linear programming Continuous optimization

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Optimal scan planning with enforced network connectivity for the acquisition of three-dimensional indoor models

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ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING 2021年 180卷 103-116页

作者： Dehbi, Youness Leonhardt, Johannes Oehrlein, Johannes Haunert, Jan-Henrik Univ Bonn Inst Geodesy & Geoinformat Bonn Germany

The positioning of laser scanners for indoor surveying is still a time and cost expensive process. This article proposes an optimization approach for computing an admissible sensor placement with the minimal number of sensor view point positions. The approach facilitates both wall and floor surveying based on a floorplan of the study object. Optimal solutions are calculated by solving an integer linear Program that respects manufacturer specifications incorporating constraints such as full coverage. To enable a subsequent coregistration of the scans, a flow-based constraint formulation ensuring the connectivity of the selected positions in an appropriately defined geometric intersection graph is introduced. The method has been evaluated on real-world objects and compared to heuristic methods that have frequently been used for related problems. Our solutions outperform heuristic approaches regarding both running time and the number of TLS stations. In a case study with a larger floorplan of an institute building and with different parameter settings, our method resulted in a solution with at least two stations less compared to a solution generated by an expert.

关键词： Art Gallery Problem Terrestrial laser scanning View planning Indoor mixed integer linear programming Optimization

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