Trajectory Optimization for Ship Collision Avoidance System Using Genetic Algorithm

Abstract

The safety of ships oceangoing or navigating in inland waterways has been increasingly concerned because it may cause great losses in human life and property and bring environmental pollution. Ship collision avoidance system is expected to reduce such maritime accident. How to find an optimum trajectory is crucial for the success of a ship collision avoidance system. As the basis of ship collision avoidance system, a mathematical model of ship maneuvering motion is first described. Then, optimization approach based on genetic algorithm is applied to seek the ship trajectory considering different navigational constraint conditions of a ship in inland waterways. In this approach, a fitness function is used to model the constraints including target ship and obstacles. The optimal results show that the present method is efficient and can be further applied to the ship-maneuvering simulator.