Evolutionary trajectory planning of ships in navigation traffic areas |
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Authors: | Roman Smierzchalski |
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Institution: | (1) Department of Ship Automation, Gdynia Maritime Academy, ul. Morska 83, 81-225 Gdynia, Poland, PL |
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Abstract: | By taking into account certain boundaries of the maneuvering region, along with navigation obstacles and other moving ships,
the problem of avoiding collisions in navigation traffic areas was reduced to a dynamic optimization task with static and
dynamic constraints. In heavy navigation traffic areas and within coastal zones, correct selection of a ship's speed, when
accompanied by the necessary trajectory changes, is a crucial element of safe navigation. This paper presents a modernized
version of the evolutionary ship trajectory planning system in which a new parameter was introduced, namely changes of the
ship's speed along particular sections of the trajectory. Generally, a safe trajectory is estimated using specialized genetic
operators for modifying the trajectory. Here, an additional operator was added to the system that mutates the ship's speed.
Sample results present the safe trajectory for a ferry meeting other moving ships and navigational constraints on its way.
Received for publication on Dec. 2, 1998; accepted on June 16, 1999 |
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Keywords: | : ship control trajectory planning avoiding collision evolutionary algorithm optimization problems guidance system |
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