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Open AccessArticle

Beam Search Algorithm for Ship Anti-Collision Trajectory Planning

Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland
Unity Developer, The Dust; 50-043 Wrocław, Poland
R&D Department, Sup4Nav sp. z o.o.; 71-602 Szczecin, Poland
Faculty of Computer Science and Telecommunication, Maritime University of Szczecin, 70-500 Szczecin, Poland
Author to whom correspondence should be addressed.
Sensors 2019, 19(24), 5338;
Received: 31 October 2019 / Revised: 29 November 2019 / Accepted: 2 December 2019 / Published: 4 December 2019
(This article belongs to the Special Issue Sensors and System for Vehicle Navigation)
The biggest challenges in the maritime environment are accidents and excessive fuel consumption. In order to improve the safety of navigation at sea and to reduce fuel consumption, the strategy of anti-collision, shortest trajectory planning is proposed. The strategy described in this paper is based on the beam search method. The beam search algorithm (BSA) takes into account many safe trajectories for the present ship and chooses the best in terms of length and other criteria. The risk of collision of present ship with any target ships is detected when the closest point of approach (CPA) of the present ship is violated by the target ship’s planned trajectory. Only course alteration of the present ship is applied, and not speed alteration. The algorithm has been implemented in the decision support system NAVDEC and tested in a real navigation environment on the m/f Wolin, a Polish ferry. Almost all BSA trajectories calculated were shorter in comparison to the standard NAVDEC-calculated algorithm. View Full-Text
Keywords: anti-collision trajectories; navigational decision support system; autonomous ship; beam search algorithm (BSA) anti-collision trajectories; navigational decision support system; autonomous ship; beam search algorithm (BSA)
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Karbowska-Chilinska, J.; Koszelew, J.; Ostrowski, K.; Kuczynski, P.; Kulbiej, E.; Wolejsza, P. Beam Search Algorithm for Ship Anti-Collision Trajectory Planning. Sensors 2019, 19, 5338.

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