Beam Search Algorithm for Ship Anti-Collision Trajectory Planning

Joanna Karbowska-Chilińska , Jolanta Koszelew , Krzysztof Ostrowski , Piotr Kuczyński , Eryk Kulbiej , Piotr Wołejsza


The 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.
Author Joanna Karbowska-Chilińska (FCS / DTCS)
Joanna Karbowska-Chilińska,,
- Department of Theoretical Computer Science
, Jolanta Koszelew (FCS / DTCS)
Jolanta Koszelew,,
- Department of Theoretical Computer Science
, Krzysztof Ostrowski (FCS / DTCS)
Krzysztof Ostrowski,,
- Department of Theoretical Computer Science
, Piotr Kuczyński
Piotr Kuczyński,,
, Eryk Kulbiej
Eryk Kulbiej,,
, Piotr Wołejsza
Piotr Wołejsza,,
Journal seriesSensors, [SENSORS-BASEL], ISSN 1424-8220, e-ISSN 1424-3210, (N/A 100 pkt)
Issue year2019
Publication size in sheets0.7
Keywords in Englishanti-collision trajectories; navigational decision support system; autonomous ship; beam search algorithm (BSA)
ASJC Classification1303 Biochemistry; 1602 Analytical Chemistry; 2208 Electrical and Electronic Engineering; 3107 Atomic and Molecular Physics, and Optics
Internal identifierROC 19-20
Languageen angielski
Score (nominal)100
Score sourcejournalList
ScoreMinisterial score = 100.0, 10-03-2020, ArticleFromJournal
Publication indicators Scopus SNIP (Source Normalised Impact per Paper): 2016 = 1.393; WoS Impact Factor: 2018 = 3.031 (2) - 2018=3.302 (5)
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