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1
Content available Modelling of ship’s trajectory planning in collision situations by hybrid genetic algorithm
Ni S., Liu Z., Cai Y., Wang X.
Polish Maritime Research
|
2018
|
nr 3
14--25
EN
Ship collision-avoidance trajectory planning aims at searching for a theoretical safe-critical trajectory in accordance with COLREGs and good seamanship. In this paper, a novel optimal trajectory planning based on hybrid genetic algorithm is presented for ship collision avoidance in the open sea. The proposed formulation is established based on the theory of the Multiple Genetic Algorithm (MPGA) and Nonlinear Programming, which not only overcomes the inherent deficiency of the Genetic Algorithm (GA) for premature convergence, but also guarantees the practicality and consistency of the optimal trajectory. Meanwhile, the encounter type as well as the obligation of collision avoidance is determined according to COLREGs, which is then considered as the restricted condition for the operation of population initialization. Finally, this trajectory planning model is evaluated with a set of test cases simulating various traffic scenarios to demonstrate the feasibility and superiority of the optimal trajectory.
2
Content available The Obligations of Single-Propeller Vessels at the Head-On Situation
Sahin B.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2016
|
Vol. 10, no. 1
101--104
EN
Manoeuvring characteristics of the vessels at the head-on situation are examined in this study. The meetings between the power-driven vessels are considered based on their propellers. These vessels can either have a single propeller or double propellers. A vessel with a single right-handed propeller alters her course to port side easier than the starboard side. There exists an unnoticed gap, therefore the authors discuss the International Regulations for Preventing Collisions at Sea, 1972 (COLREGs), Rule 14, considering the vessel orientation based on its propeller walk. After presenting all possible cases and their probable consequences, this paper offers authorities to embed the information of propeller characteristics into the Automatic Identification Systems (AIS) in order to prevent misunderstandings during the VHF communications, probable collision risks and discussions on liability issues in case of marine accidents.
3
Content available Trajectory Planning with Negotiation for Maritime Collision Avoidance
Hornauer S., Hahn A., Blaich M., Reuter J.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2015
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Vol. 9, no. 3
335--341
EN
The problem of vessel collisions or near-collision situations on sea, often caused by human error due to incomplete or overwhelming information, is becoming more and more important with rising maritime traffic. Approaches to supply navigators and Vessel Traffic Services with expert knowledge and suggest trajectories for all vessels to avoid collisions, are often aimed at situations where a single planner guides all vessels with perfect information. In contrast, we suggest a two-part procedure which plans trajectories using a specialised A* and negotiates trajectories until a solution is found, which is acceptable for all vessels. The solution obeys collision avoidance rules, includes a dynamic model of all vessels and negotiates trajectories to optimise globally without a global planner and extensive information disclosure. The procedure combines all components necessary to solve a multi-vessel encounter and is tested currently in simulation and on several test beds. The first results show a fast converging optimisation process which after a few negotiation rounds already produce feasible, collision free trajectories.
4
Content available Maritime Traffic Situations in Bornholmsgat
Olindersson F., Janson C. E., Dahlmann J.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2015
|
Vol. 9, no. 1
115--120
EN
Maritime traffic situations is regulated in the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs), but how well are these rules followed by officers on board vessels? When the world shipping fleet grow and the traffic becomes more intensive, the risk of collision increase. By analysing AIS data from vessels in the traffic separation scheme Bornholmsgat during 24 hours in December 2013, 421 traffic situations were found where the passing distance between the vessels were less than 1.5 nautical miles. The compliance with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) seems to be good, but the average avoiding action is less than the recommended manoeuver.
5
Content available Interaction of Harsh Weather Operation and Collision Avoidance in Autonomous Navigation
Burmeister H.-C., Bruhn W. C., Walther L.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2015
|
Vol. 9, no. 1
31--40
EN
Taking into account the autonomous navigation system design and today’s state of the art navigation with regards to weather and collision avoidance this paper presents the architecture of the integrated approach, its links to existing rules and regulations and the test scenarios. These demonstrate how safe and efficient navigation of autonomous vessels can be achieved by showing the module's interaction and validating the feasibility of the approach. These analyses will be based on historical traffic data sets as well as simulation results.
6
Content available A Simulative Comparison of Ship Domains and Their Polygonal Approximations
Szłapczyński R., Szłapczyńska J.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2015
|
Vol. 9, no. 1
135--141
EN
The paper investigates the impact of a precise ship domain shape on the size of collision avoidance manoeuvres. The considered collision avoidance manoeuvres include both course and speed alterations. Various ship domains are compared with their polygonal approximations, which vary in the number of points of a domain contour and placement of these points. The best of all considered approximations is determined in the course of simulation experiments performed for head-on, crossing and overtaking situations. The chosen number and placement of contour points combine precision of domain approximation with reasonable computational time.
7
Content available Comparison of AIS-based prediction of the distance at the CPA with factual separation between vessels
Banyś P., Heymann F., Engler E., Noack T.
Annual of Navigation
|
2014
|
No. 21
5--18
EN
Since its deployment in 2004, the Automatic Identification System (AIS) has been considered a significant improvement of watchkeeping duties at sea. According to current regulations, AIS has not been recognised as an approved anticollision instrument yet. However, it would be difficult to rule out a possibility that AIS, being an essential part of the onboard SOLAS — compliant configuration, is unaidedly used for collision avoidance tasks. Recent research activities of DLR’s Department of Nautical Systems have shown that AIS transmissions may contain a lot of incomplete data and the system does not have any dependable information on its data integrity. For that reason, the computation of the closest point of approach (CPA) and the time to the CPA (TCPA) are analysed based on AIS data involving multiple vessels, in order to compare the predictions with factual approaches between vessels and to evaluate the usability of AIS data, in its present form, for the appraisal of the traffic situation around each vessel.
PL
System automatycznej identyfikacji (AIS) rozwinął się w 2004 roku i odtąd jest uważany za istotny czynnik poprawiający jakość pełnienia wachty morskiej. W aktualnych regulacjach AIS nie jest uznawany za urządzenie antykolizyjne, jednak trudno nie dostrzec możliwości, jakie ma ten — wedle konwencji SOLAS — zasadniczy element obowiązkowego wyposażenia. Badania prowadzone w Wydziale Systemów Nawigacyjnych DLR wykazały, że informacje przekazywane za pośrednictwem AIS mogą zawierać wiele danych niepełnych, a system nie ma żadnego mechanizmu zapewniającego przesyłanie informacji o wiarygodności tych danych. Dlatego w artykule zaprezentowano obliczenia punktu największego zbliżenia (CPA) oraz czasu do tego punktu (TCPA) na podstawie danych z AIS od różnych statków, by porównać prognozy z faktycznymi manewrami, a następnie ocenić użyteczność danych AIS w obecnej postaci dla szacowania sytuacji kolizyjnych w warunkach rzeczywistych.
8
Content available Applicability of fuzzy logic to the COLREG rules interpretation
Pietrzykowski Z., Malujda R.
Zeszyty Naukowe / Akademia Morska w Szczecinie
|
2012
|
nr 30 (102)
109-114
EN
The correct analysis and assessment of navigational situation, taking into account the existing Collision Regulations, provides a basis for making the right decisions on a seagoing vessel. Such basis is important for ensuring the safety of navigation in different, often complex, situations. The interpretation of the relevant rules is therefore of key importance. They contain generalizations arising from a multitude of possible scenarios at sea. The consequence of this is imprecision hindering interpretation of the rules. This is of particular concern in the implementation of those rules in navigational information systems and decision support systems. This paper provides a preliminary analysis, based on practical examples, of the applicability of fuzzy logic as a tool for the algorithm-based interpretation of International Regulations for Prevention of Collisions at Sea (COLREGs). The COLREGs general concept shall be presented with an indication of the imprecision of rules in selected areas. For this purpose, the current methods of legal interpretation shall be presented and applied. This will allow to classify the COLREGs into two groups: crisp and imprecise. The real collision case shall be presented and discussed. The conducted preliminary considerations will help determine initially whether the incorporation of the principles of fuzzy logic in the law may facilitate interpretation of legal provisions by setting acceptable boundaries of such interpretation, and thus also the implementation of provisions in the navigational decision support systems.
PL
Prawidłowa analiza i ocena sytuacji nawigacyjnej, uwzględniająca obowiązujące przepisy MPDM, stanowi podstawę dla podejmowania trafnych – właściwych – decyzji na statku morskim. Ma to istotne znaczenie dla zapewnienia bezpieczeństwa żeglugi w różnych, często złożonych, sytuacjach. Kluczowa w wielu przypadkach jest interpretacja wymienionych przepisów. Zawierają one uogólnienia, wynikające z mnogości możliwych do wystąpienia sytuacji. Konsekwencją tego są nieprecyzyjności utrudniające interpretację przepisów. Dotyczy to w szczególności implementacji wymienionych przepisów w nawigacyjnych systemach informacyjnych i wspomagania decyzji. Przedmiotem artykułu jest wstępna analiza, na bazie przykładów praktycznych, możliwości zastosowania logiki rozmytej jako narzędzia do zalgorytmizowanej interpretacji prawideł "Międzynarodowego prawa drogi morskiej”. W artykule przedstawiona została istota COLREG’s wraz ze wskazaniem obszarów nieprecyzyjności zapisów wybranych prawideł. W tym celu omówiono i wykorzystano aktualnie funkcjonujące sposoby wykładni (interpretacji) przepisów prawnych. Pozwoli to na próbę oceny, które z przepisów COLREG’s można sklasyfikować jako ostre, a które jako nieprecyzyjne. Posłużył do tego wybrany przez Autorów stan faktyczny kolizji statków. Przeprowadzone rozważania pozwoliły wstępnie ocenić, czy naniesienie siatki zasad logiki rozmytej na przepisy prawne może ułatwić ich interpretację poprzez wytyczenie dopuszczalnych granic takiej interpretacji, a tym samym także implementację przepisów w nawigacyjnych systemach wspomagania decyzji.
9
Content available remote Knowledge Base in the Interpretation Process of the Collision Regulations at Sea
Banas P., Breitsprecher M.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2011
|
Vol. 5, no. 3
359--364
EN
The article presents the problem of transforming knowledge contained in the provisions of the International Regulations for Preventing Collisions at Sea, and the so called good seamanship in computer applications. Some methods of knowledge representation in decision support in avoidance of collision situa-tions are compared and examined. Acquisition, representation and sharing of knowledge are taken into con-sideration from the viewpoint of supplementing the knowledge database and computational complexity.
10
Content available remote Solving Multi-Ship Encounter Situations by Evolutionary Sets of Cooperating Trajectories
Szlapczynski R.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2010
|
Vol. 4, no. 2
185--190
EN
The paper introduces a new approach to solving multi-ship encounter situations by combining some of the assumptions of game theory with evolutionary programming techniques. A multi-ship encounter is here modelled as a game played by “thinking players” – the ships of different and possibly changing strate-gies. The solution – an optimal set of cooperating (non-colliding) trajectories is then found by means of evo-lutionary algorithms. The paper contains the description of the problem formulation as well as the details of the evolutionary program. The method can be used for both open waters and restricted water regions.
11
Content available remote On Determination of the Head-on Situation Under Rule 14 of Colreg-72
Bukaty V. M., Morozova S. U.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2010
|
Vol. 4, no. 4
383--388
EN
Analyzed one possible criteria of stating the fact of ships' meeting on reciprocal courses and proved that none of them can be judged with confidence of head-on situation. So, in fact Rule 14 of COLREG -1972 should be strictly adhered to: “ …When a vessel is in any doubt as to whether such a situation exists we shall assume that it does exist and act accordingly…”, i. e. alter the course to starboard.
12
Content available remote Evolutionary Sets of Cooperating Trajectories in Multi-Ship Encounter Situations - Use Cases
Szłapczynski R.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2010
|
Vol. 4, no. 2
191--196
EN
The paper discusses the advantages of a new approach to solving ship encounter situations by combining some of the assumptions of game theory with evolutionary programming techniques. A multi-ship encounter is here modeled as a game played by “thinking players” – the ships of different and possibly chang-ing strategies. The solution – an optimal set of cooperating (non-colliding) trajectories is then found by means of evolutionary algorithms. The paper contains the results obtained for different cases of situations including open waters and restricted water regions and the discussion of these results. The already developed version of the method is fast enough to be applied in the real time on-board collision avoidance systems or VTS systems.
13
Content available remote Advantages of Preservation of Obligatory Voice Communication on the VHF Radio Channel 16
Brzoska S.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2010
|
Vol. 4, no. 2
137--141
EN
Channel 16 of the VHF radio band is the most commonly used way of communication between vessels. Alt-hough there are strict rules not to use it for routine communication, many officers neglect them. When Digital Selective Calling had been presented to the GMDSS system, it was no longer obligatory to keep a watch on channel 16, however, on the waters of the United States such an obligation is still in force. Officers find DSC system quite difficult to use so the European countries should revise their politics and consider restoration of obligatory watchkeeping on channel 16.
14
Content available The Display Mode for Choosing the Manoeuvre for Collision Avoidance
Vagushchenko L., Vagushchenko A.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2009
|
Vol. 3, no. 3
327--329
EN
The display mode is intended for facilitation of building strategies for collision avoidance by so-called B-manoeuvres. It can be used in ECDIS, ARPA and the simulator systems. B-manoeuvre includes the segment of deviation at a certain angle from the initial course and at the end of it the segment parallel to the initial way’s line (planned route). The offered mode is based on the use of forbidden domains for B-manoeuvres. These domains allow choosing parameters and beginning moment of B-manoeuvre for collision avoidance with one or a few vessels. The account of presence of navigation hazards at the choice of B-manoeuvre is produced by setting the borders of maximum lateral shifting from planned route. The offered mode enables visual drafting of strategies for collision avoidance with vessels by successive B-manoeuvres. It is possible to use this mode as basis of computer search of strategies for collisions avoidance with a few targets.
15
Content available Behaviour Patterns in Crossing Situations
Kempa J.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2009
|
Vol. 3, no. 1
75--79
EN
The January 2009 issue of the Journal of Navigation included a paper (John Wilde Crosbie 2009) entitled, “Revisiting the lessons of the early steering and sailing rules for an e-navigation age.” Following a description of the development of the COLREGS from the early 19th century, he concluded that the current steering and sailing rules should be replaced by a single rule more suited to modern conditions. This might take the form of rule stating that a vessel taking action to avoid collision should not pass ahead of the other vessel. Such a rule would require a radical change in the philosophy of collision avoidance at sea, and evidence is required that it would be both effective and acceptable by mariners. Radar simulator experiments, conducted by the author some years ago, in another context, suggest that this might be the case. An analysis of the experimental results and some conclusions are reported in this paper. The author believes that further trials, specifically designed to test the Crosbie proposals, would be desirable.
16
Content available The Analysis of Possibilities How the Collision Between m/v 'Gdynia' and m/v 'Fu Shan Hai' Could Have Been Avoided
Banachowicz A., Wolejsza P.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2008
|
Vol. 2, no. 4
377--381
EN
The report presents the simulation results of collision between m/v “Gdynia” and m/v “Fu Shan Hai”. The analysis was performed by means of decision support in collision situations. This system is based on a structure of programme multiagents using AIS data (Automatic Identification System) with the possibility of cooperation between agents or vessels. The multiagent system of supporting anticollision decisions increases the reliability of navigational information and permits making right decisions, thereby increasing safety at sea.
17
Content available Planned Route Based Negotiation for Collision Avoidance Between Vessels
Hu Q., Yang C., Cheng H., Xiao B.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2008
|
Vol. 2, no. 4
363--368
EN
Automatic vessel collision-avoidance systems have been studied in the fields of artificial intelligence and navigation for decades. And to facilitate automatic collision-avoidance decision-making in two-vessel-encounter situation, several expert and fuzzy expert systems have been developed. However, none of them can negotiate with each other as seafarers usually do when they intend to make a harmonious and more economic overall plan of collision avoidance in the COLREGS-COST-HIGH situations where collision avoidance following the International Regulations for Preventing Collisions at Sea(COLREGS) costs too much. A negotiation framework was put forward in our previous research to enable vessels to negotiate for optimizing collision avoidance in the COLREGS-COST-HIGH situations at open sea. In this paper, the negotiation framework is improved by considering the planned route of both vessels. The simulation results show that more economic overall plan of collision avoidance may be achieved by the improved framework when one or both parties deviate from their planed route or are approaching their next way points.
18
Content available remote Modelowanie manewru ostatniej chwili w sytuacji kolizyjnej na morzu
Stawicki K.
Prace Wydziału Nawigacyjnego Akademii Morskiej w Gdyni
|
2008
|
Z. 22
80-91
PL
W artykule przedstawiono autorską koncepcję systemu manewru ostatniej chwili w sytuacji kolizyjnej na morzu. Opracowanie dostarcza raczej więcej pytań niż odpowiedzi. Rozważania oparto na przepisach prawidła 17. Międzynarodowych Przepisów Prawa Drogi (MPDM) oraz na rozumieniu znaczenia manewru ostatniej chwili.
EN
In the paper Author presents concept of last minute manoeuvre system in collision situation at sea. Paper is putting some question marks rather then giving the answers. Author focused on rule 17 coming from International regulations for preventing collisions at sea (Colregs) as well on understanding of meaning last minute manoeuvre. It seems there are still some problems to be discovered in near future.
19
Content available remote The Determination of a Minimum Critical Distance for Avoiding Action by a Stand-on Vessel as Permitted by Rule 17a) ii)
Rymarz E. W.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
|
2007
|
Vol. 1, no. 1
63--68
EN
In accordance with Rule 17a)ii) a stand-on vessel may take action to avoid collision by her manoeuvre alone, as soon as it becomes apparent to her that the vessel required to keep out of her way is not taking appropriate action in compliance with the Steering and Sailing Rules. Such an action to avoid collision must be taken in proper time. An OOW should know the minimum distance for taking avoiding action in every particular case of approaching vessels. The safe distance mainly depends of the relative bearing of an approaching vessel and her speed. In particular own vessel manoeuvrability should be taken into account. The safe minimum distance could be calculated in advance with an Excel calculation sheet. This paper presents a method for preparing a table of safe minimum distances to be used during a Navigational Watch.
20
Content available remote Ocena niezawodności manewru ostatniej chwili
Lizakowski P., Łukaszewicz A.
Prace Wydziału Nawigacyjnego Akademii Morskiej w Gdyni
|
2007
|
Z. 20
48-54
PL
Celem artykułu jest przedstawienie złożoności problemu wyznaczania odległości podjęcia manewru ostatniej chwili w taki sposób, aby uniknąć zderzenia. Sytuacje, w których taki manewr jest podejmowany określa Prawidło Międzynarodowych Przepisów o Zapobieganiu Zderzeniom na Morzu (COLREG). Badania zaprezentowane w artykule zostały przeprowadzone na symulatorze manewrowym VSHIP 2000.
EN
This article presents complexity of determination of the last moment manoeuvre to avoid collision in the light of Convention on the International Regulations for Preventing Collisions at Sea (COLREG 1972). Simulation research has been carried out on Bridge Simulator VSHIP 2000 in Maritime Academy in Gdynia.
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