Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-10T12:56:43.839Z Has data issue: false hasContentIssue false
  • English
  • Français

A New Method of Planning Collision Avoidance Manoeuvres for Multi-Target Encounter Situations

Published online by Cambridge University Press:  25 March 2008

Rafal Szlapczynski
Rafal Szlapczynski*
Affiliation:
Gdansk University of Technology, Gdansk, Poland)
*
(Email: rafal@pg.gda.pl)
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper the author introduces a new method of collision avoidance for multi-target encounters. The method combines the qualities of a sequence of necessary manoeuvres with some optimisation elements and supports any given ship domain. First the problem of determining the optimal course alteration manoeuvre for given ship domain model and multi-target encounter situation is solved. The solution consists of analytical formulas and numerical algorithms combined to achieve low computational complexity. Then this solution is further used to construct a method of planning ship trajectories, which are safe, economic and intuitive for navigators. Example scenarios and the resulting trajectories are also provided. All of the algorithms, formulas and their derivations in the text are presented explicitly, so that they could be directly applied in any collision avoidance system.

Keywords

NavigationCollision avoidanceTrajectory planning
Type
Research Article
Information
The Journal of Navigation , Volume 61 , Issue 2 , April 2008 , pp. 307 - 321
Copyright
Copyright © The Royal Institute of Navigation 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

[1].Coldwell, T. G. (1982). Marine Traffic Behaviour in restricted Waters. Journal of Navigation, 36. 431–444.Google Scholar
[2].Davis, P. V., Dove, M. J., Stockel, C. T. (1982). A Computer Simulation of multi-Ship Encounters. Journal of Navigation, 35. 347–352.CrossRefGoogle Scholar
[3].International Maritime Organization (1972). Convention on the International Regulations for Preventing Collisions at Sea (COLREGS).Google Scholar
[4].Lenart, A. S. (1982). Collision threat parameters for a new radar display and plot technique. Journal of Navigation, 36, 404–410.CrossRefGoogle Scholar
[5].Lisowski, J. (2001). Determining the Optimal Ship Trajectory in Collision Situation. Proceedings of the IX International Scientific and Technical Conference on Marine Traffic Engineering, 192–201. Maritime Academy, Szczecin, Poland.Google Scholar
[6].Lisowski, J. (2005). Game control methods in navigator decision support system. Archives of Transport, vol. 17, issue 3–4. Warszawa, Poland.Google Scholar
[7].Lisowski, J. (2005). Dynamic games methods in navigator decision support system for safety navigation. Proceedings of the European Safety and Reliability Conference vol. 2, p 1285–1292 Gdansk, Poland.Google Scholar
[8].Szlapczynski, R. (2006) A unified measure of collision risk derived from the concept of a ship domain, Journal of Navigation, 59, 477–490.CrossRefGoogle Scholar