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ISSN : 1229-3431(Print)
ISSN : 2287-3341(Online)
Journal of the Korean Society of Marine Environment and Safety Vol.25 No.3 pp.259-268
DOI : https://doi.org/10.7837/kosomes.2019.25.3.259

A Study on Intention Exchange-based Ship Collision Avoidance by Changing the Safety Domain

Donggyun Kim

Abstract

Even if only two ships are encountered, a collision may occur due to the mistaken judgment of the positional relationship. In other words, if an officer does not know a target ship’s intention, there is always a risk of collision. In this paper, the experiments are conducted to investigate how the intention affects the action of collision avoidance in cooperative and non-cooperative situations. In non-cooperative situation, each ship chooses a course that minimizes costs based on the current situation. That is, it always performs a selfish selection. In a cooperative situation, the information is exchanged with a target ship and a course is selected based on this information. Each ship uses the Distributed Stochastic Search Algorithm so that a next-intended course can be selected by a certain probability and determines the course. In the experimental method, four virtual ships are set up to analyze the action of collision avoidance. Then, using the actual AIS data of eight ships in the strait of Dover, I compared and analyzed the action of collision avoidance in cooperative and non-cooperative situations. As a result of the experiment, the ships showed smooth trajectories in the cooperative situation, but the ship in the non-cooperative situation made frequent big changes to avoid a collision. In the case of the experiment using four ships, there was no collision in the cooperative situation regardless of the size of the safety domain, but a collision occurred between the ships when the size of the safety domain increased in cases of non-cooperation. In the case of experiments using eight ships, it was found that there are optimal parameters for collision avoidance. Also, it was possible to grasp the variation of the sailing distance and the costs according to the combination of the parameters, and it was confirmed that the setting of the parameters can have a great influence on collision avoidance among ships.

초록

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