Trajectory planning for ship in collision situations at sea by evolutionary computation

A modified version of the E/PN algorithm has been used for computing the optimum trajectory of a ship in a given environment. On the basis of this algorithm, a program estimating a safe trajectory of a ship in collision situation was developed. By taking into account certain boundaries of the manoeuvring region, along with navigation obstacles and other moving ships, the problem of avoiding collisions at sea was reduced to a dynamic optimisation task with static and dynamic constrains. The introduction of a time parameter and moving constrains representing the passed ships is the main distinction of the new system. Sample results of using the program for estimating the ship trajectory in typical navigation situations are given.