Safe Ship Trajectory Determination in the ENC Environment

In past years, numerous global path planning methods have been researched and applied in maritime surface navigation. Regardless of intended usage for either decision-support in manned, or autonomous vessel navigation, path planning should generate a safe and efficient route. However, prior to route generation, static maritime environment representation must be created first. Whether it is transformed in to discrete or continuous form, common approach is to use Electronic Navigational Charts (ENCs) as a basis for maritime environment representation. Nevertheless its origins, ENCs still adhere to inherited data generalisations and simplifications to be comprehensible for human navigators. This leads to limitations when considering path planning and spatial resolution at different chart scales. Furthermore, when generating the representation and path, uncertainty must be considered since the quality and accuracy of chart data varies. Although these topics have been addressed separately in their respective domains, their relations have not been researched in detail. The aim of the proposed paper is the review of electronic navigational charts, environment representation and common global path planning approaches’ relations. Forthcoming standards and technologies, such as usage of high-density charts, are presented and discussed as well.

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“…representation considered in (46). Instead of using regular grids, trapezoidal meshes were used to reduce the computation time.…”

Section: Mt'22 9th International Conference On Maritime Transportmentioning

confidence: 99%

Static maritime enviroment representation of electronic navigational charts in global path planning

Šakan¹,

Žuškin²,

Rudan³

et al. 2022

Maritime Transport Conference

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“…The ENC, made in a vector format, geometrically is an ordered set of elements on a plane: point, curve (line) or surface (face), which represent objects in the chart. The elements are described by their coordinates and object attributes [17]. These objects may correspond to different types of obstacles (as shown in Table 2).…”

Section: Environment Modelingmentioning

confidence: 99%

Fast Path Planning for Autonomous Ships in Restricted Waters

Lyu

Yin

2018

Applied Sciences

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Presently, there is increasing interest in autonomous ships to reduce human errors and support intelligent navigation, where automatic collision avoidance and path planning is a key problem, especially in restricted waters. To solve this problem, a path-guided hybrid artificial potential field (PGHAPF) method is first proposed in this paper. It is essentially a reactive path-planning algorithm that provides fast feedback in a changeable environment, including dynamic target ships (TSs) and static obstacles, for steering an autonomous ship safely. The proposed strategy, which is a fusion of the potential field and gradient methods, consists of potential-based path planning for arbitrary static obstacles, gradient-based decision-making for dynamic TSs, and their combination with consideration of the prior path and waypoint selection optimization. A three-degree-of-freedom dynamic model of a Mariner class vessel and a low-level controller have been incorporated together in this method to ensure that the vessel's positions are updated at each time step in order to acquire a more applicable and reliable trajectory. Simulations show that the PGHAPF method has the potential to rapidly generate adaptive, collision-free and International Regulations for Preventing Collisions at Sea (COLREGS)-constrained trajectories in restricted waters by deterministic calculations. Furthermore, this method has the potential to perform path planning on an electronic chart platform and to overcome some drawbacks of traditional artificial potential field (APF) methods.

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“…The standards are based on the relevant, systematically extended ontology. Work is in progress on the construction of navigational information ontology and representation, which will enable their automatic analysis and interpretation (Banaś et al, 2013; Pietrzykowski et al, 2014b, Wójcik et al, 2014).…”

Section: It and Ict In Navigationmentioning

confidence: 99%

“…If we consider the decision making process as an optimisation problem, it will be a problem of non-linear, multi-criterion, dynamic optimisation, in which some constraints, criteria and components of the objective function may be inaccurate – imprecise or uncertain (Pietrzykowski et al, 2014b; Pietrzykowski et al, 2010). One of the challenging tasks for system designers is the creation of relevant knowledge bases.…”

Section: Areas Of Usementioning

confidence: 99%

Decision Support in Collision Situations at Sea

2016

Self Cite

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The known navigational systems in use perform information functions and as such are helpful in the process of safe conduct of a vessel. One of the ways to assist in reducing the number of marine accidents is the development of systems which perform decision support functions, i.e. automatically generate solutions to collision situations. The use of information (and communication) technologies including knowledge engineering allows the generation of proposals for anti-collision manoeuvres taking into account the COLREGs. Demand for further enhancement of navigational safety by limiting human errors has initiated a trend to convert navigational information systems into decision support systems. The implementation of decision support systems will potentially reduce the number of human errors, which translates into a reduction of accidents at sea and their adverse consequences. This paper presents a summary of the research to date on the navigational decision support system NAVDEC. The system has been positively verified in laboratory conditions and in field tests – on a motor ferry and a sailing ship. Challenges associated with the development and implementation of such systems are outlined.

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Safe Ship Trajectory Determination in the ENC Environment

Cited by 4 publications

References 9 publications

Static maritime enviroment representation of electronic navigational charts in global path planning

Static maritime enviroment representation of electronic navigational charts in global path planning

Fast Path Planning for Autonomous Ships in Restricted Waters

Decision Support in Collision Situations at Sea

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