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1

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.

2

Ship Collision Avoidance by Distributed Tabu Search

Kim D., Hirayama K., Okimoto M.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2015

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Vol. 9, no. 1

23--29

EN

More than 90% of world trade is transported by sea. The size and speed of ships is rapidly increasing in order to boost economic efficiency. If ships collide, the damage and cost can be astronomical. It is very difficult for officers to ascertain routes that will avoid collisions, especially when multiple ships travel the same waters. There are several ways to prevent ship collisions, such as lookouts, radar, and VHF radio. More advanced methodologies, such as ship domain, fuzzy theory, and genetic algorithm, have been proposed. These methods work well in one-on-one situations, but are more difficult to apply in multiple-ship situations. Therefore, we proposed the Distributed Local Search Algorithm (DLSA) to avoid ship collisions as a precedent study. DLSA is a distributed algorithm in which multiple ships communicate with each other within a certain area. DLSA computes collision risk based on the information received from neighboring ships. However, DLSA suffers from Quasi-Local Minimum (QLM), which prevents a ship from changing course even when a collision risk arises. In our study, we developed the Distributed Tabu Search Algorithm (DTSA). DTSA uses a tabu list to escape from QLM that also exploits a modified cost function and enlarged domain of next-intended courses to increase its efficiency. We conducted experiments to compare the performance of DLSA and DTSA. The results showed that DTSA outperformed DLSA.

3

Radar Image Processing and AIS Target Fusion

Heymann F., Banyś P., Saez C.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2015

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Vol. 9, no. 3

443--448

EN

Collision avoidance is one of the high-level safety objectives and requires a complete and reliable description of maritime traffic situation. A combined use of data provided by independent data sources is an approach to improve the accuracy and integrity of traffic situation related information. In this paper we study the usage of radar images for automatic identification system (AIS) and radar fusion. Therefore we simulate synthetic radar images and evaluate the tracking performance of the particle filter algorithm as the most promising filter approach. During the filter process the algorithm estimates the target position and velocity which we finally compare with the known position of the simulation. This approach allows the performance analysis of the particle filter for vessel tracking on radar images. In a second extended simulation we add the respective AIS information of the target vessel and study the gained level of improvement for the particle filter approach. The work of this paper is integrated in the research and development activities of DLR Institute of Communications and Navigation dealing with the introduction of data and system integrity into the maritime traffic system. One of the aimed objectives is the automatic assessment of the traffic situation aboard a vessel including integrity information.

4

Procedure for Marine Traffic Simulation with AIS Data

Miyake R., Fukuto J., Hasegawa K.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2015

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Vol. 9, no. 1

59--66

EN

It is essential to evaluate safety of marine traffic for the improvement of efficiency and safety of marine traffic. Spread of AIS makes observation of actual marine traffic more easily and faster than before. Besides, description of collision avoidance behaviours of ships are indispensable to simulate a realistic marine traffic. It is important to develop and implement an algorithm of collision avoidance corresponding to a target traffic or target area into the marine traffic simulation because actual actions for collision avoidance depend on circumstances where ships are sailing. The authors developed an automated marine traffic simulation system with AIS data. And in this paper, we proposed a series of systematic procedures for marine traffic simulation including analysing for collision avoidance behaviours using AIS data.

5

Maritime Traffic Situations in Bornholmsgat

Olindersson F., Janson C. E., Dahlmann J.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2015

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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.

6

Formal Safety Assessment (FSA) for Analysis of Ship Collision Using AIS Data

Zaman M.B., Santoso A., Kobayashi E., Wakabayashi D., Maimun A.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2015

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Vol. 9, no. 1

67--72

EN

Currently, Maritime safety is the best issue in the world. International Maritime organization (IMO) have recommended FSA methodology to enhance maritime safety. In this paper, the research conducted in the Malacca Strait. Malacca Strait is an area that has a high risk for shipping navigation. Many accidents occur in the area are like collision, fire, grounding and so on. Therefore a study on improving safety in this area is very important. it is to produce an output that can be used to provide input to the master and multiple stakeholders to improve safety on board at the time of sailing. In this study, AIS is used as a data source. Sea condition data collected actual traffic through the Automatic Identification System (AIS) equipment installed at Kobe University, Japan, and Universiti Teknologi Malaysia (UTM) in Johor, Malaysia. The data is applied to define a method with the help of Geographic Information Systems (GIS).

7

Data Acquisition in a Manoeuver Auto-negotiation System

Szlapczynska 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

343--348

EN

Typical approach to collision avoidance systems with artificial intelligence support is that such systems assume a central communication and management point (such as e.g. VTS station), usually located on shore. This approach is, however, not applicable in case of an open water encounter. Thus, recently a new approach towards collision avoidance has been proposed, assuming that all ships in the encounter, either restricted or open water, communicate with each other and negotiate their maneuvers, without involving any outer management or communication center. Usually the negotiation process is driven by the collision avoidance software and called auto-negotiation. This paper elaborates on data acquisition problem in case of the maneuver auto-negotiation. It focuses on ships' initialization in the system and data gathering.

8

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

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2015

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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.

9

Potentials of e-Navigation – Enhanced Support for Collision Avoidance

Baldauf M., Benedict K., Krüger C.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2014

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Vol. 8 no. 4

613--617

EN

The e-Navigation initiative of IMO and IALA has stimulated and inspired a number of ambitious research projects and technological developments in the maritime field. The global transportation of goods is not only facing rapidly growing ship dimensions but also increasing industrial off shore activities, changing the relation between the need of areas for safe and reliable vessel traffic and its availability. Off shore activities is increasingly limiting the available navigable spaces and concentrating traffic flows, especially in coastal waters and port approaches. Enhanced technical systems and equipment with numerous added functionalities are in use and under further development providing new opportunities for traffic surveillance and interaction. Integrated Bridge and Navigation Systems on board modern ships not only support the bridge teams and pilots on board, but also allow for more comprehensive shore-based traffic monitoring and even allow for re-thinking of existing regimes and procedures on traffic management. A sophisticated manoeuvring support tool using fast real-time simulation technology and its application for on board support as well as for its potential integration into enhanced shore-based monitoring processes when linked with the ‘Maritime Cloud’ will be introduced. The potential for contribution to generate harmonized collision warnings will be discussed and explained. This paper is a reviewed and extended version of (Baldauf, Benedict & Gluch, 2014).

10

Vision-based solutions for driver assistance

Nowosielski A.

Journal of Theoretical and Applied Computer Science

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2014

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Vol. 8, nr 4

35--44

EN

The article presents a review on vision-based solutions for driver assistance. These solutions support the driver to keep safe travel conditions. They use diverse sensing modalities for the recognition of the environment around the vehicle. Upon detection a critical safety situation they supply the driver with the warning. Four assistance systems have been addressed: TSR - Traffic Sign Recognition, CAV - Collision Avoidance, LDW - Lane Departure Warning, and driver fatigue detection. Their structure and some existing approaches are presented. Furthermore, a solution for lane detection and another one for a driver fatigue detection are proposed in the article. They are prepared as the combination of existing image processing algorithms with the aim of presentation the ease of own limited solution creation. For the real-world and diverse working scenarios they would require a great deal of improvements.

11

Possible Method of Clearing-up the Close-quarter Situation of Ships by Means of Automatic Identification System

Bukaty V. M., Morozova S. U.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2010

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Vol. 4, no. 3

309--313

EN

The tonic discussed is an non-traditional approach to the earliest possible clearing up of the head-on situation, consisting in defining the time of simultaneous approach to same latitudes and longitudes, bearing in mind that the information about the ships' movement was received by means of Automatic Identification System. If the time the ships proceed to these latitudes and longitudes is the same the collision of the ships is unavoidable and by the time identified the head-on situation is immediately indicated. If the time is different the ships will not be able to reach the same point and the collision will be avoided. The attempts have been also made to evaluate the minimal admitted inequality of time when the ships' safe passage without maneuvering is considered possible. This method is rather attractive because it does not require any additional measurements and it is not neces-sary to attract the Officer-in-Charge away from his main responsibility – to control the situation round the ship.

12

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

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2010

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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.

13

Intelligent Evaluation System of Ship Management

Xu Q., Meng X., Wang N.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2010

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Vol. 4, no. 4

479--482

EN

The security of maritime traffic is a significant part of intelligent maritime traffic. It can reduce to ship maneuvering and collision avoidance by macroscopic. Eighty percents of marine accident induce by human factor from research data. So some researches about intelligent computer evaluation system to reduce the accident of human caused have emerged. Intelligent evaluation system of ship maneuvering can calculate the status of ship and getting the data of ship around, and then adopt fuzzy comprehensive evaluation method to calculate the collision risk and evaluate the operation of navigator. If it has danger of collision risk or the navigator adopts irrational operation scheme by calculating, the system will send message to the navigator. The navigator must affirm the messages, if there is not affirmance, the system will adopt collision avoidance measures or other rational operations automatically at the critical moment.

14

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

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2009

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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

Risk Analysis and Human Factor in Prevention of CRG Casualties

Kobylinski L.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 4

443--448

EN

CRG casualties create one of the major type casualties in shipping. Prevention of CRG casualties is an important issue, especially because of the number of CRG casualties has increased almost twice during recent years. For the great majority of all CRG casualties human factor responsible, and the increasing number of these casualties might be attributed to poorer qualifications of ship masters who have not enough experience in handling very large ships put into operation presently. Risk analysis is a modern method for assessment of safety level of technical systems. This tool may be the used to investigate causes of casualties and to find out most effective prevention measures. Risk analysis is widely used in many areas; in case of marine technology it is used routinely in off-shore technology. The author investigates possibilities to apply risk analysis in the area of ship handling with the focus on human factor. This is preliminary study where possible methodology for hazards identification and risk assessment in respect of CRG casualties are investigated and risk control options are suggested. Various aspects of the influence of human factor in collision avoidance are listed and in particular the effect of training is stressed.

16

Method of Safe Returning of the Vessel to Planned Route After Deviation from Collision

Tsymbal M., Urbansky I.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 1

81--84

EN

Flexible strategies for collision avoidance, presented at TransNav 2007, were examined using computer program for its correctness in different situations of ships interaction. It was determined, that on short distance the risk of collision can arise again when the vessel returning to the planned route after deviation from collision. For controlling ship’s safe returning, the mathematical model was developed. This model describes the analytical dependence of the rate of changing relative course with respect to rates of turning of the vessels and its initial relative position. This method can be used in automatic systems for controlling the safe returning of the vessel to the planned route.

17

Behaviour Patterns in Crossing Situations

Kempa J.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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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.