Beam Search Algorithm for Ship Anti-Collision Trajectory Planning
Joanna Karbowska-Chilińska , Jolanta Koszelew , Krzysztof Ostrowski , Piotr Kuczyński , Eryk Kulbiej , Piotr Wołejsza
AbstractThe biggest challenges in the maritime environment are accidents and excessive fuel consumption. In order to improve the safety of navigation at sea and to reduce fuel consumption, the strategy of anti-collision, shortest trajectory planning is proposed. The strategy described in this paper is based on the beam search method. The beam search algorithm (BSA) takes into account many safe trajectories for the present ship and chooses the best in terms of length and other criteria. The risk of collision of present ship with any target ships is detected when the closest point of approach (CPA) of the present ship is violated by the target ship’s planned trajectory. Only course alteration of the present ship is applied, and not speed alteration. The algorithm has been implemented in the decision support system NAVDEC and tested in a real navigation environment on the m/f Wolin, a Polish ferry. Almost all BSA trajectories calculated were shorter in comparison to the standard NAVDEC-calculated algorithm.
|Journal series||Sensors, [SENSORS-BASEL], ISSN 1424-8220, e-ISSN 1424-3210, (N/A 100 pkt)|
|Publication size in sheets||0.7|
|Keywords in English||anti-collision trajectories; navigational decision support system; autonomous ship; beam search algorithm (BSA)|
|ASJC Classification||; ; ;|
|Internal identifier||ROC 19-20|
|Score||= 100.0, 10-03-2020, ArticleFromJournal|
|Publication indicators||: 2016 = 1.393; : 2018 = 3.031 (2) - 2018=3.302 (5)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.