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1 Archives of Control Sciences

1 1998

1 Śmierzchalski R.

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An evolutionary method of trajectory planning in collision situations at sea

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Śmierzchalski R.

1998

tom Vol. 7, no. 1/2

5-32

In a collision situation at sea, the decision support system should help the operator to choose a proper manoeuvre in given circumstances, teach him good practices, and enhance his general intuition on how to behave in similar situations in future. An accepted approach in those cases is a multiple criterion decision problem. In this paper, a modified version of the EP/N (Evolutionary Planner/Navigator) algorithm - has been used as a major component of such a decision support system for computing the near optimum trajectory of a ship in given environment. By taking into account certain boundaries of the manoeuvring region, along with navigation obstacles and other moving ships, the problem of avoiding collisions at sea was reduced to a dynamic optimisation task with static and dynamic constrains. The introduction of a time parameter and moving constrains representing the passing ships is the main distinction of the new system. Sample results, having the form of ship trajectories obtained using the program for typical navigation situations are given.