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A Discrete Artificial Potential Field for Ship Trajectory Planning

Published online by Cambridge University Press:  13 June 2019

Agnieszka Lazarowska Open the ORCID record for Agnieszka Lazarowska [Opens in a new window]
Agnieszka Lazarowska*
Affiliation:
(Department of Ship Automation, Faculty of Electrical Engineering, Gdynia Maritime University, Morska St. 81-87, 81-225 Gdynia, Poland)
*
(E-mail: [email protected])
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Abstract

This paper introduces an approach for solving a safe ship trajectory planning problem. The algorithm, utilising the concept of a discrete artificial potential field and a path optimisation algorithm, calculates an optimised collision-free trajectory for a ship. The method was validated by simulation tests with the use of real navigational data registered on board the research and training ship Horyzont II. Results of simulation studies demonstrate that the approach is capable of finding a collision-free trajectory in near-real time, and this proves its applicability in commercial collision avoidance systems for ships. The paper contributes to the development of decision support systems for ships and autonomous navigation.

Keywords

NavigationShip collisionTrajectory planning
Type
Research Article
Information
The Journal of Navigation , Volume 73 , Issue 1 , January 2020 , pp. 233 - 251
Copyright
Copyright © The Royal Institute of Navigation 2019 

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