The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship's State Vector

Area of Science:

• Maritime technology
• Robotics
• Naval architecture

Background:

• Autonomous navigation systems require accurate prediction of ship trajectories for collision avoidance.
• Existing methods may not fully account for ship maneuverability and environmental conditions.

Purpose of the Study:

• To develop an advanced interpolation method for predicting a ship's state vector.
• To implement and validate an algorithm for determining safe anti-collision trajectories for autonomous vessels.

Main Methods:

• Utilized an interpolating function for ship state vectors based on sea trial data (turning circle tests).
• Applied a modified Dijkstra algorithm on a discrete graph network for trajectory planning.
• Incorporated safety parameters like safe passing levels and route deviation.

Main Results:

• Successfully interpolated ship state vectors within convex quadrilaterals.
• Demonstrated effective anti-collision trajectory determination using the modified Dijkstra algorithm.
• Validated the algorithm's performance through laboratory and quasi-real condition tests with ship models.

Conclusions:

• The proposed interpolation and pathfinding algorithm is effective for autonomous ship collision avoidance.
• The developed system enhances the safety and reliability of autonomous maritime navigation.