A novel approach for assistance with anti-collision decision making based on the International Regulations for Preventing Collisions at Sea

Zhang, Jinfen; Yan, Xinping; Chen, Xianqiao; Sang, Lingzhi; Zhang, Di

doi:10.1177/1475090211434869

Cited by 21 publications

(16 citation statements)

References 13 publications

(13 reference statements)

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“…Such distances were thus determined in [41] and recently applied in Maritime Traffic Alert and Collision Avoidance System [42,43]. Safe distances of evasive actions were also investigated in [44]. Similarly, in [24] a combination of analytical approach with a heuristic (utilizing expert navigators' knowledge) was applied to determine an action zone for a ship.…”

Section: Literature Reviewmentioning

confidence: 99%

A Ship Domain-Based Method of Determining Action Distances for Evasive Manoeuvres in Stand-On Situations

Szlapczynski

Krata

Szlapczynska

2018

Journal of Advanced Transportation

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A ship encounter can be considered safe if neither of ships’ domains (defined areas around ships) is intruded by other ships. Published research on this includes optimising collision avoidance manoeuvres fulfilling domain-based safety conditions. However, until recently there was no method, using ship’s domain to determine exact moment when a particular collision avoidance manoeuvre can still be successfully performed. The authors have already proposed such method for give-way encounters. In the paper, documenting continuation of the research, another kind of scenarios is considered. This paper is focused on situations where the own ship is the stand-on one and the target is supposed to manoeuvre. The presented method uses a ship’s dynamics model to compute distance necessary for a manoeuvre successful in terms of avoiding domain violations. Additionally, stability-related phenomena and their impact on possible manoeuvres in heavy weather are taken into account. The method and applied models are illustrated in a series of simulation results. The simulations cover various examples of stand-on situations, including encounters in heavy weather conditions. Discussed manoeuvres may be limited to course alteration or may combine turns with speed reduction.

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Section: Literature Reviewmentioning

confidence: 99%

A Ship Domain-Based Method of Determining Action Distances for Evasive Manoeuvres in Stand-On Situations

Szlapczynski

Krata

Szlapczynska

2018

Journal of Advanced Transportation

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“…Assuming that the initial conditions are = , 0   and = , then yaw rate at any moment t can be computed through the first-order KT equation [29].…”

Section: Tr+r=kδ Andmentioning

confidence: 99%

A knowledge-free path planning approach for smart ships based on reinforcement learning

Chen

et al. 2019

Ocean Engineering

158

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With the development of artificial intelligence, intelligent and unmanned driving has received extensive attention. Compared with the rapid technological advance of unmanned vehicles, the research on unmanned ship technology is relatively rare. The autonomous navigation of cargo ships needs to meet their huge inertia and obey existing complex rules. Therefore, the requirements for smart ships are much higher than those for unmanned vehicles. A smart ship has to realise autonomous driving instead of manual operation, which consists of path planning and controlling.Toward to this goal, this research proposes a path planning and manipulating approach based on Qlearning, which can drive a cargo ship by itself without requiring any input from human experiences or guidance rules. At the very beginning, a ship is modelled in a simulation waterway. Then, a number of simple rules of navigation are introduced and regularized as rewards or punishments, which are used to judge the performance, or manipulation decisions of the ship. Subsequently, Qlearning is introduced to learn the action-reward model and the learning outcome is used to manipulate the ship's movement. By chasing higher reward values, the ship can find an appropriate path or navigation strategies by itself. After a sufficient number of rounds of training, a convincing path and manipulating strategies will likely be produced. By comparing the proposed approach with the existing Rapid-exploring Random Tree (RRT) and the Artificial Potential Field A* methods, it is shown that this approach is more effective in self-learning and continuous optimisation, and therefore closer to human manoeuvring.

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“…For evaluation purposes, COLREG, safety and other rules and regulations should be used. A lot of research has been conducted for path planning algorithms where COLREG is taken into use, and some examples are (Zhang, Yan, Chen, Sang, & Zhang, 2012), (Naeem, Irwin, & Yang, 2012) and (Campbell, Naeem, & Irwin, 2012). For evaluation of COLREG compliant ANS, not so much has been done.…”

Section: Test Scenario Evaluationmentioning

confidence: 99%

Towards Simulation-based Verification of Autonomous Navigation Systems

Pedersen¹,

Glomsrud²,

Haugen³

2020

Proceedings of the International Seminar on Safety and Security of Autonomous Vessels (ISSAV) and European STAMP Workshop and C

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Autonomous ships are expected to change water-based transport of both cargo and people, and large investments are being made internationally. There are many reasons for such transformation and interest, including shifting transport of goods from road to sea, reducing ship manning costs, reduced dangerous exposure for crew, and reduced environmental impact. Situational awareness (SA) systems and Autonomous navigation systems (ANS) are key elements of autonomous ships. Safe deployment of ANS will not be feasible based on real-life testing only. The assurance of autonomous ships and systems will require large-scale, systematic simulation-based testing in addition to assurance of the development process. DNV GL proposes to use a digital twin, that is a digital representation of key elements of the autonomous vessel as a key tool for the simulation-based testing, focusing on functional testing, failure tolerance, and performance aspects. The digital twin contains comprehensive mathematical models of the ship and its equipment, including all sensors and actuators. The complete simulationbased test system complementing the digital twin should consist of a virtual world to simulate environmental conditions, geographical information and interaction with other maritime traffic and obstacles. Finally, the test system must include a test management system that controls the simulations in the digital twin and the virtual world, generates test scenarios as well as evaluates the test scenario results. The scenario generation should automatically search for low system performance, and ultimately establish sufficient coverage of the possible scenario space. The test scenario evaluation should automatically consider safety, conformance to collision regulations at sea (COLREGs), and possibly the efficiency of the ship navigation. This paper presents a comprehensive prototype of a test system for ANS. Key topics will be simulation-based testing, interfacing between the simulator and ANS, cooperation with ANS manufacturers, dynamic test scenario generation and automatic assessment towards COLREGs.

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A novel approach for assistance with anti-collision decision making based on the International Regulations for Preventing Collisions at Sea

Cited by 21 publications

References 13 publications

A Ship Domain-Based Method of Determining Action Distances for Evasive Manoeuvres in Stand-On Situations

A Ship Domain-Based Method of Determining Action Distances for Evasive Manoeuvres in Stand-On Situations

A knowledge-free path planning approach for smart ships based on reinforcement learning

Towards Simulation-based Verification of Autonomous Navigation Systems

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