A distributed anti-collision decision support formulation in multi-ship encounter situations under COLREGs

Zhang, Jinfen; Zhang, Di; Yan, Xinping; Haugen, Stein; Soares, C. Guedes

doi:10.1016/j.oceaneng.2015.06.054

Cited by 172 publications

(97 citation statements)

References 22 publications

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“…According to local optimization, a ship only considers those ships that affect its navigation and puts others aside [31]. Under the assumption that every ship arrives at the approach at the time coinciding with its report, ships whose arrival times are earlier are the most likely obstacles in the waterway.…”

Section: Ship Self-organizing Cooperation Algorithmmentioning

confidence: 99%

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2018

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SummaryAn effective ship scheduling strategy is critical for the efficiency of waterway transportation, especially in restricted one-way waterways. By treating ship traffic as a distributed system, a novel Ship Self-Organizing Cooperation algorithm (SSOCA) is proposed to evaluate the effects of self-organizing cooperation between ships. An assumption is made that overtaking is not allowed under the given safety requirement. Observing that traffic efficiency is influenced by speed differences, two types of delay times, wait time and navigation time as increased by speed reductions, are applied to evaluate traffic efficiency. The mathematical model of delay time is inferred in different entry sequences subsequently. Taking advantage of the delay model, each ship makes a decision regarding its own sequence to find the local optimum iteratively. An Arena-based ship traffic model is constructed. The simulation results indicate that average delay time for ships is decreased in comparison with the First Come First Served (FCFS) model. That advantage exists for different combinations of traffic flow parameters. Moreover, a balance between efficiency and computation is also achieved by distributing the computational burden to each ship.

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Section: Ship Self-organizing Cooperation Algorithmmentioning

confidence: 99%

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2018

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“…The CPA approach evaluates the risk of collision between the ship and the surrounding ship by calculating the minimum collision distance of the two vessels under the current route (Zhang, Zhang et al 2015). However, since the difference in vessel size, heading and speed is not considered, in some cases the risk of collision is estimated to differ from the actual situation (Stahlberg, Goerlandt et al 2012).…”

Section: Collision Avoidance and The Colregsmentioning

confidence: 99%

“…There are 3 kinds of the ship meeting scenarios, which are the head-on, take over and crossing. COLREGs rules and regulations have been discussed in the recent literatures, for example Perera (Perera, Carvalho et al 2011) showed ever kind of the anti-collision situations, and Jinfen Zhang (Zhang, Zhang et al 2015) discussed the multiship encounter collision avoidance situations.…”

Section: Collision Avoidance and The Colregsmentioning

confidence: 99%

“…Otherwise own ship is a stand on ship. The following algorithm in 2.3-2.5 mainly references Jinfen Zhang's (Zhang, Zhang et al 2015) research about the distributed anti-collision decision support formulation. As the system in this paper regard the COLREGs as the top layer and prepare of the path planning, it simplifies the output of the Jinfen's algorithm.…”

Section: The Colregs Rules and Regulationsmentioning

confidence: 99%

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Ship Domain Model for Multi-ship Collision Avoidance Decision-making with COLREGs Based on Artificial Potential Field

et al. 2017

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A multi-ship collision avoidance decision-making and path planning formulation is studied in a distributed way. This paper proposes a complete set of solutions for multi-ship collision avoidance in intelligent navigation, by using a top-to-bottom organization to structure the system. The system is designed with two layers: the collision avoidance decision-making and the path planning. Under the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs), the performance of distributed path planning decision-making for anti-collision is analyzed for both give-way and stand-on ships situations, including the emergency actions taken by the stand-on ship in case of the give-way ship's fault of collision avoidance measures. The Artificial Potential Field method(APF) is used for the path planning in details. The developed APF method combined with the model of ship domain takes the target ships' speed and course in-to account, so that it can judge the moving characteristics of obstacles more accurately. Simulation results indicate that the system proposed can work effectiveness.

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“…One possible explanation is that the navigation situation in the Yangtze River is much more complex than in the Tianjin port . There are much more multi‐ship encounter situations and the collision avoidance decision‐making would be more difficult . Moreover, the channel covers rather spacious area and the navigation environment varies a lot among the upper‐stream, mid‐stream, and downstream, which makes it a challenge work for the transportation safety management .…”

Section: Maritime Risk Modelling By Bbnmentioning

confidence: 99%

Maritime Transportation Risk Assessment of Tianjin Port with Bayesian Belief Networks

et al. 2016

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This article develops a Bayesian belief network model for the prediction of accident consequences in the Tianjin port. The study starts with a statistical analysis of historical accident data of six years from 2008 to 2013. Then a Bayesian belief network is constructed to express the dependencies between the indicator variables and accident consequences. The statistics and expert knowledge are synthesized in the Bayesian belief network model to obtain the probability distribution of the consequences. By a sensitivity analysis, several indicator variables that have influence on the consequences are identified, including navigational area, ship type and time of the day. The results indicate that the consequences are most sensitive to the position where the accidents occurred, followed by time of day and ship length. The results also reflect that the navigational risk of the Tianjin port is at the acceptable level, despite that there is more room of improvement. These results can be used by the Maritime Safety Administration to take effective measures to enhance maritime safety in the Tianjin port.

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A distributed anti-collision decision support formulation in multi-ship encounter situations under COLREGs

Cited by 172 publications

References 22 publications

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Ship Domain Model for Multi-ship Collision Avoidance Decision-making with COLREGs Based on Artificial Potential Field

Maritime Transportation Risk Assessment of Tianjin Port with Bayesian Belief Networks

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