Trajectory Planning with Negotiation for Maritime Collision Avoidance

Abstract

The problem of vessel collisions or near-collision situations on sea, often caused by human error due to incomplete or overwhelming information, is becoming more and more important with rising maritime traffic. Approaches to supply navigators and Vessel Traffic Services with expert knowledge and suggest trajectories for all vessels to avoid collisions, are often aimed at situations where a single planner guides all vessels with perfect information. In contrast, we suggest a two-part procedure which plans trajectories using a specialised A* and negotiates trajectories until a solution is found, which is acceptable for all vessels. The solution obeys collision avoidance rules, includes a dynamic model of all vessels and negotiates trajectories to optimise globally without a global planner and extensive information disclosure. The procedure combines all components necessary to solve a multi-vessel encounter and is tested currently in simulation and on several test beds. The first results show a fast converging optimisation process which after a few negotiation rounds already produce feasible, collision free trajectories. http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 9 Number 3

Exploiting AIS Data for Intelligent Maritime Navigation: A Comprehensive Survey From Data to Methodology

“…In [122,127,128], another shortest path algorithm A* [129] is used to plan a path to avoid collision. Their method additionally regards the physical constrains of the vessel and the COLREGs.…”

A study of decomposition of a group of ships for preliminary forecasting of dangerous approaching

“…Due to incomplete or dominating information, ship collision or dangerous approaching at sea, often caused by a human error, as noted in [10], becomes an increasingly important problem with the growth of maritime traffic. The principles of complete external control of the collision avoidance process are the basis of approaches to forming, with the help of expert knowledge, safe ship trajectories, provided to navigators and ship traffic services.…”

Relative space-based GIS data model to analyze the group dynamics of moving objects

“…The studies about relative space mainly appear in the fields of vessels in maritime and airplane in aviation. In maritime, the moving object data model also can be applied for assessing collision risk (Bye and Aalberg, 2018;Fang et al, 2018), predicting vessel behavior (Zissis et al, 2016;Xiao et al, 2017) and planning path (Cummings et al, 2010;Hornauer et al, 2015). In aviation field, motion guidance and control (Yu et al, 2016;Sun et al, 2017;Li and Zhu, 2018;Zhu et al, 2018) for spacecraft rendezvous, position and attitude estimation (Philip and Ananthasayanam, 2003;Qiao et al, 2013) between the chaser and the target satellites were also referred to the applications of moving object data model.…”