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Tytuł:
Analysis of Methods of Determining the Safe Ship Trajectory
Autorzy:
Lisowski, J.
Powiązania:
https://bibliotekanauki.pl/articles/116647.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
ship route
Safe Ship Trajectory
route planning
Determining the Safe Ship Trajectory
ship trajectory
Artificial Neural Network (ANN)
game theory
computer simulation
Opis:
The paper describes six methods of optimal and game theory and artificial neural network for synthesis of safe control in collision situations at sea. The application of optimal and game control algorithms to determine the own ship safe trajectory during the passing of other encountered ships in good and restricted visibility at sea is presented. The comparison of the safe ship control in collision situation: multi-step matrix non-cooperative and cooperative games, multi-stage positional non-cooperative and cooperative games have been introduced. The considerations have been illustrated with examples of computer simulation of the algorithms to determine safe of own ship trajectories in a navigational situation during passing of eight met ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 2; 223-228
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Verification of a deterministic ships safe trajectory planning algorithm from different ships’ perspectives and with changing strategies of target ships
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/2063957.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safe ship's trajectory
ship's trajectory
collision avoidance module
autonomous navigation system
maritime autonomous surface ships
Opis:
The paper presents results of a ship's safe trajectory planning method verification - the Trajectory Base Algorithm, which is a deterministic approach for real-time path-planning with collision avoidance. The paper presents results of the algorithm’s verification from different ships’ perspectives and with changing strategies of target ships. Results prove the applicability of the algorithm in the Collision Avoidance Module of the Autonomous Navigation System for Maritime Autonomous Surface Ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 623--628
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Evolutionary Ship Track Planning within Traffic Separation Schemes – Evaluation of Individuals
Autorzy:
Szłapczyński, R.
Powiązania:
https://bibliotekanauki.pl/articles/116089.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
collision avoidance
Track Planning
ship trajectory
Opis:
The paper presents an extended version of the author’s Evolutionary Sets of Safe Ship Trajectories method. The method plans safe tracks of all ships involved in an encounter including speed reduction maneuvers, if necessary, and taking into account Rule 10 of COLREGS, which specifies ships’ behavior within Traffic Separation Schemes governed by IMO. The paper focuses on the evaluation phase of the evolutionary process and shows how fitness function is designed to compare various possible tracks as well as to assess the quality of a final solution. The impact of the fitness function on the method’s results is illustrated by examples.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2013, 7, 2; 301-308
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship Trajectory Control Optimization in Anti-collision Maneuvering
Autorzy:
Zhang, J. F.
Yang, X. D.
Zhang, D.
Haugen, S.
Powiązania:
https://bibliotekanauki.pl/articles/116373.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
anticollision
ship trajectory
genetic algorithm
route optimization
Opis:
A lot of attention is being paid to ship’s intelligent anti‐collision by researchers. Several solutions have been introduced to find an optimum trajectory for ship, such as Game Theory, Genetic or Evolutionary Algorithms and so on. However, ship’s maneuverability should be taken into consideration before their real applications. Ship’s trajectory control in anti‐collision maneuvering is studied in this paper. At first, a simple linear ship maneuverability model is introduced to simulate its movement under different speed and rudder angle. After that, ship’s trajectory control is studied by considering the duration of rudder, operation distance to turning points, and maximum angular velocity. The details for algorithm design are also introduced. By giving some restrictions according to the requirements from COLREGs, the intervals for rudder angle in different circumstances can be determined based on the curves. The results can give very meaningful guidance for seafarers when making decisions.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2013, 7, 1; 89-93
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The safe ships trajectory in a restricted area
Autorzy:
Pietrzykowski, Z.
Magaj, J.
Powiązania:
https://bibliotekanauki.pl/articles/360322.pdf
Data publikacji:
2014
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
safety of navigation
ship trajectory
restricted area
ship domain
optimization
Opis:
This paper presents the problem of determining a safe ship trajectory in a restricted area. The route choice task is defined as a dynamic optimization problem. The route choice algorithm and criteria are presented and discussed. The ship fuzzy domains are used as a safety criterion. The criterion of the number of manoeuvres to be performed by the own ship is added to the algorithm. The ship encounters simulated situations. Calculated safe ship trajectories were presented and discussed. Discusses the implementation of the present process, in real terms.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2014, 39 (111); 122-127
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Określanie krzywizny trajektorii płaskiej statku za pomocą GPS
Determination of ships plane trajectory curvature by GPS
Autorzy:
Banachowicz, A.
Wolski, A.
Banachowicz, B.
Powiązania:
https://bibliotekanauki.pl/articles/210979.pdf
Data publikacji:
2010
Wydawca:
Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
Tematy:
GPS
trajektoria statku
pozycjonowanie
nawigacja
ship trajectory
positioning
navigation
Opis:
W artykule przedstawiono sposób określania krzywizny trajektorii statku w płaszczyźnie horyzontu z wykorzystaniem ciągu pozycji GPS. Stosując aproksymację średniokwadratową ciągu pomiarów współrzędnych pozycji, możemy otrzymać równania parametryczne współrzędnych statku. Pozwala to na wykreślenie krzywej płaskiej trajektorii statku oraz jej ewoluty. W artykule przedstawiono przykład krzywoliniowej trajektorii statku oraz jej ewoluty (z cyrkulacją oraz z punktem przegięcia) określonej na podstawie rzeczywistych pomiarów DGPS.
This article describes a method for the determination of ship's trajectory curvature in the horizontal plane using a series of GPS positions. Using mean square approximation of a series of position coordinates measurements we can obtain parametric equations of ship's coordinates. This allows us to plot a ship's plane trajectory curve and its evolute. Besides, an example of ship’s curvi-linear trajectory and its evolute are presented, including the circulation and the inflexion point, determined from actual DGPS measurements.
Źródło:
Biuletyn Wojskowej Akademii Technicznej; 2010, 59, 2; 107-115
1234-5865
Pojawia się w:
Biuletyn Wojskowej Akademii Technicznej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship trajectory tracking control system design based on sliding mode control algorithm
Autorzy:
Liu, Y.
Bu, R.
Gao, X.
Powiązania:
https://bibliotekanauki.pl/articles/259621.pdf
Data publikacji:
2018
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
LOS
ship trajectory
tracking control system
sliding mode control
Opis:
The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.
Źródło:
Polish Maritime Research; 2018, 3; 26-34
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The problem of route determination in ship movement in a restricted area
Autorzy:
Pietrzykowski, Z.
Magaj, J.
Powiązania:
https://bibliotekanauki.pl/articles/320731.pdf
Data publikacji:
2012
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
safety of navigation
ship trajectory
restricted area
ship domain
multi-stage control
Opis:
This article focuses on the problem of determining a safe trajectory of a ship proceeding in a restricted area. An algorithm of trajectory choice has been developed, taking into account the parameters of the area, own ship, target ship and other vessels sailing in vicinity. The ship domain has been adopted as a safety criterion. The research results for selected test trials are presented and analyzed. The applicability of the proposed method of trajectory choice in real conditions is considered.
Źródło:
Annual of Navigation; 2012, No. 19, part 2; 53-69
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Verification of ships trajectory planning algorithms using real navigational data
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/117103.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Visibility Graph-search Algorithm (VGA)
Discrete Artificial Potential Field (DAPF)
real navigational data
ARPA
ship's trajectory planning
ship's trajectory planning algorithms
Ant Colony Optimization (ACO)
Trajectory Base Algorithm (TBA)
Opis:
The paper presents results of ship's safe trajectory planning algorithms verification. Real navigational data registered from a radar with an Automatic Radar Plotting Aid on board the research and training ship Horyzont II were used as input data to the algorithms. The algorithms verified in the presented research include the Ant Colony Optimization algorithm (ACO), the Trajectory Base Algorithm (TBA), the Visibility Graph-search Algorithm (VGA) ant the Discrete Artificial Potential Field algorithm (DAPF). Details concerning data registration and exemplary results obtained with the use or real navigational data are introduced and summarized in the paper. Presented results prove the applicability of proposed algorithms for solving the ship's safe trajectory planning problem.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 559-564
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Game Strategies of Ship in the Collision Situations
Autorzy:
Lisowski, J.
Powiązania:
https://bibliotekanauki.pl/articles/117558.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
game theory
Game Ship Control (GSC)
Collision Situation
MATLAB
Safe Ship Trajectory
Simulation Research
Neural Ship’s Domain
Algorithm
Opis:
The paper introduced the basic model of process of safe ship control in a collision situation using a game model with j objects, which includes non-linear state equations and non-linear, time varying constraints of the state variables as well as the quality game control index in the forms of the game integral payment and the final payment. Approximated model of the process control as the model of multi-step matrix game in the form of dual linear programming problem has been adopted here. The Game Ship Control GSC computer program has been designed in the Matlab/Simulink software in order to determine the own ship’s safe trajectory. These considerations have been illustrated with examples of a computer simulation using an GSC program for determining the safe ship's trajectory in real navigational situation. Simulation research were passed for five sets of strategies of the own ship and met ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2014, 8, 1; 69-77
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modern method based on artificial intelligence for safe control in the marine environment
Autorzy:
Mohamed-Seghir, Gdynia Maritime University, Gdynia, Poland
Powiązania:
https://bibliotekanauki.pl/articles/24201419.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safe ship's trajectory
collision avoidance
artificial intelligence
artificial neural network
fuzzy logic
evolutionary algorithms
dynamic programming
Opis:
The article presents an approach to formulating a ship control process model in order to solve the problem of determining a safe ship trajectory in collision situations. Fuzzy process properties are included in the model to bring it closer to reality, as in many situations the navigator makes a subjective decision. A special neural network was used to solve the presented problem. This artificial neural network is characterized by minimum and maximum operations when set. In order to confirm the correctness of the operation of the proposed algorithm, the results of the simulations obtained were presented and an discussion was conducted.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 283--288
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Method of Safe Returning of the Vessel to Planned Route After Deviation from Collision
Autorzy:
Tsymbal, M.
Urbansky, I.
Powiązania:
https://bibliotekanauki.pl/articles/116001.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
anticollision
Safe Returning
Planned Route
Course Deviation
Collision Avoidance
Risk of Collision
mathematical model
Ship's Trajectory
Opis:
Flexible strategies for collision avoidance, presented at TransNav 2007, were examined using computer program for its correctness in different situations of ships interaction. It was determined, that on short distance the risk of collision can arise again when the vessel returning to the planned route after deviation from collision. For controlling ship’s safe returning, the mathematical model was developed. This model describes the analytical dependence of the rate of changing relative course with respect to rates of turning of the vessels and its initial relative position. This method can be used in automatic systems for controlling the safe returning of the vessel to the planned route.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2009, 3, 1; 81-84
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The Comparison of Safe Control Methods in Marine Navigation in Congested Waters
Autorzy:
Lisowski, J.
Powiązania:
https://bibliotekanauki.pl/articles/116043.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
marine navigation
Congested Waters
Collision Situation
safe ship control
Decision Supporting Algorithm
Dynamic Programming Method
Linear Programming Method
Safe Own Ship's Trajectory
Opis:
The paper introduces comparison of five methods of safe ship control in collision situation: multi-stage positional non-cooperative and cooperative game, multi-step matrix game, dynamic and kinematics optimisation with neural constrains of state control process. The synthesis of computer navigator decision supporting algorithms with using dual linear programming and dynamic programming methods has been presented. The considerations have been illustrated an examples of a computer simulation the algorithms to determine the safe own ship's trajectory in situation of passing a many of the ships encountered at sea.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2009, 3, 2; 163-172
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Integration of elliptical ship domains and velocity obstacles for ship collision candidate detection
Autorzy:
Chen, P. F.
Van Gelder, P.
Mou, J. M.
Powiązania:
https://bibliotekanauki.pl/articles/116538.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
collision avoidance
elliptical ship domain
ship collision candidate detection
time-discrete velocity obstacle algorithm (TD-NLVO)
AIS Data
ship trajectory
collision candidate detection
collision candidate
Opis:
The maritime shipping industry has been making significant contributions to the development of the regional and global economy. However, maritime accidents and their severe consequences have been posing an incrementing risk to the individuals and societies. It is therefore important to conduct risk analysis on such accidents to support maritime safety management. In this paper, a modified ship collision candidate detection method is proposed as a tool for collision risk analysis in ports and waterways. Time-Discrete Velocity Obstacle algorithm (TD-NLVO) is utilized to detect collision candidates based on the encounter process extracted from AIS data. Ship domain model was further integrated into the algorithm as the criteria for determination. A case study is conducted to illustrate the efficacy of the improved model, and a comparison between the existing method and actual ship trajectories are also performed. The results indicate that with the integration of ship domain, the new method can effectively detect the encounters with significant collision avoidance behaviours. The choice of criteria can have a significant influence on the results of collision candidate detection.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 4; 751-758
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A nature inspired collision avoidance algorithm for ships
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/24201448.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
collision avoidance algorithm
safe own Ship's Trajectory
safe navigation
ant colony optimization
firefly agorithm
path planning
swarm intelligence
nature inspired computing
Opis:
Nature inspired algorithms are regarded as a powerful tool for solving real life problems. They do not guarantee to find the globally optimal solution, but can find a suboptimal, robust solution with an acceptable computational cost. The paper introduces an approach to the development of collision avoidance algorithms for ships based on the firefly algorithm, classified to the swarm intelligence methods. Such algorithms are inspired by the swarming behaviour of animals, such as e.g. birds, fish, ants, bees, fireflies. The description of the developed algorithm is followed by the presentation of simulation results, which show, that it might be regarded as an efficient method of solving the collision avoidance problem. Such algorithm is intended for use in the Decision Support System or in the Collision Avoidance Module of the Autonomous Navigation System for Maritime Autonomous Surface Ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 341--346
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 28

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