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Path planning algorithm for ship collisions avoidance in environment with changing strategy of dynamic obstacles

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Trends in Advanced Intelligent Control, Optimization and Automation (KKA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 577))

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Abstract

In this paper a path planning algorithm for the ship collision avoidance is presented. Tested algorithm is used to determine close to optimal ship paths taking into account changing strategy of dynamic obstacles. For this purpose a path planning problem is defined. A specific structure of the individual path and fitness function is presented. Principle of operation of evolutionary algorithm and based on it dedicated application vEP/N++ is described. Using presented algorithm the simulations on close-to-real sea environment is performed. Tested environment presents the problem of avoiding one static obstacle representing island and two dynamic objects representing strange ships. Obtained results proof that used approach allows to calculate efficient and close-to-optimal path for marine vessel in close-to-real time.

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Authors and Affiliations

  1. Faculty of Electrical and Control Engineering, Gdansk University of Technology, str. Gabriela Narutowicza 11/12, 80-233, Gdansk, Poland

    Łukasz Kuczkowski & Roman Śmierzchalski

Authors
  1. Łukasz Kuczkowski
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  2. Roman Śmierzchalski
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Corresponding author

Correspondence to Łukasz Kuczkowski .

Editor information

Editors and Affiliations

  1. Department of Automatics and Biomedical Engineering, AGH University of Science and Technology , Kraków, Poland

    Wojciech Mitkowski

  2. Systems Research Institute, Polish Academy of Sciences, Warszawa, Poland

    Janusz Kacprzyk

  3. Department of Automatics and Biomedical Engineering , AGH University of Science and Technology , Kraków, Poland

    Krzysztof Oprzędkiewicz

  4. Department of Automatics and Biomedical Engineering , AGH University of Science and Technology , Kraków, Poland

    Paweł Skruch

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Kuczkowski, Ł., Śmierzchalski, R. (2017). Path planning algorithm for ship collisions avoidance in environment with changing strategy of dynamic obstacles. In: Mitkowski, W., Kacprzyk, J., Oprzędkiewicz, K., Skruch, P. (eds) Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017. Advances in Intelligent Systems and Computing, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-319-60699-6_62

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  • DOI: https://doi.org/10.1007/978-3-319-60699-6_62

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60698-9

  • Online ISBN: 978-3-319-60699-6

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