Path-planning algorithm for ships in close-range encounters |
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Authors: | CheeKuang Tam Richard Bucknall |
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Institution: | (1) Department of Mechanical Engineering, University College London, Torrington Place, London, WC1E 7JE, UK |
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Abstract: | Efficient maritime navigation through obstructions at close range is still one of the many problems faced by mariners. The
increasing traffic densities and average cruise speed of ships also impede the collision avoidance process by reducing the
time available for decision making. This study develops a path-planning algorithm that determines an optimal navigation path
for ships in close-range encounters, using known and predicted data about the traffic and environment. An improved ship dynamic
model has also been developed to better approximate the ship movement under external influences, and the algorithm was evaluated
with a set of test cases simulating various traffic scenarios typically encountered at close range. Since the method is based
on evolutionary algorithm, the algorithm behaviours were evaluated statistically, where properties such as consistency and
practicality of the algorithm outputs are discussed. |
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Keywords: | |
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