Next Article in Journal
Error Analysis and Modeling for an Absolute Capacitive Displacement Measuring System with High Accuracy and Long Range
Next Article in Special Issue
Direction of Arrival Estimation of GPS Narrowband Jammers Using High-Resolution Techniques
Previous Article in Journal
Energy Efficient Resource Allocation for M2M Devices in LTE/LTE-A
Previous Article in Special Issue
A Robust Cubature Kalman Filter with Abnormal Observations Identification Using the Mahalanobis Distance Criterion for Vehicular INS/GNSS Integration
Open AccessArticle

Beam Search Algorithm for Ship Anti-Collision Trajectory Planning

1
Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, Poland
2
Unity Developer, The Dust; 50-043 Wrocław, Poland
3
R&D Department, Sup4Nav sp. z o.o.; 71-602 Szczecin, Poland
4
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; https://doi.org/10.3390/s19245338
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)
Show Figures

Figure 1

MDPI and ACS Style

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.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop