Evolutionary sets of safe ship trajectories: simulation results

The Evolutionary Sets of Safe Ship Trajectories is a method solving multi-ship encounter situations. For given positions and motion parameters the method finds a near optimal set of safe trajectories of all ships involved in an encounter. The paper briefly presents foundations of the method and focuses on simulation results for selected test cases based on the Baltic Basin. The computer simulations cover both open waters and restricted waters cases. The obtained results confirm correctness and aptness of the method in solving encounter situations at sea.EVOLUTIONARY SETS OF SAFE SHIP TRAJECTORIES: SIMULATION RESULTS
The method of evolutionary sets of safe ship trajectories is used to solve multi-ship collision situations at sea. For known positions and motion parameters, the method finds an optimal set of safe trajectories for all ships involved in the encounter. The paper briefly presents the main assumptions of the method and focuses on simulation results obtained during research for selected regions of the Baltic Sea.
The presented examples show encounter situations in open and restricted waters. The obtained research results confirm the correctness and accuracy of the described method in solving collision situations at sea.
1. INTRODUCTION
Multi-ship encounter situations take place when three or more ships are approaching the same open or restricted water region with headings posing a threat of collision. In such cases general COLREGS [1] rules no longer provide strict anti-collision regulation for the entire set of ships in the encounter. However, still the rules may and should be considered by every ship in the set. This makes the process of planning safe trajectories of all the ships in the encounter complex. (…)

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