“…In this area, navigational operations under icebreaker assistance are key to the success of the safe navigation of merchant vessels Montewka et al, 2015;Valdez Banda et al, 2015). It is very difficult to ensure the safety of navigation in Arctic waters when vessels sail independently facing harsh conditions, such as the presence of sea ice, low temperatures, electromagnetic interference, and other complex environmental conditions (Stoddard et al 2015;Fu et al, 2017;Khan et al, 2017;Ostreng et al, 2013). At the same time, ordinary vessels lack the capability of icebreaking, so they are unable to sail independently in a harsh ice environment, which can easily lead to ice accidents (Kum et al, 2015;Fu et al, 2016).…”