Verification of Ship's Trajectory Planning Algorithms Using Real Navigational Data

• Main Author: Agnieszka Lazarowska
• Format: Article
• Language: English
• Published: Gdynia Maritime University 2019-09-01
• Series: TransNav: International Journal on Marine Navigation and Safety of Sea Transportation
• Subjects: Visibility Graph-search Algorithm (VGA); Discrete Artificial Potential Field (DAPF); Real Navigational Data; ARPA; Ship's Trajectory Planning; Ship's Trajectory Planning Algorithms; Ant Colony Optimization (ACO); Trajectory Base Algorithm (TBA)
• Online Access: http://www.transnav.eu/files/Verification of Ship's Trajectory Planning Algorithms Using Real Navigational Data,930.pdf

The paper presents results of ship's safe trajectory planning algorithms verification. Real navigational data registered from a radar with an Automatic Radar Plotting Aid on board the research and training ship Horyzont II were used as input data to the algorithms. The algorithms verified in the presented research include the Ant Colony Optimization algorithm (ACO), the Trajectory Base Algorithm (TBA), the Visibility Graph-search Algorithm (VGA) ant the Discrete Artificial Potential Field algorithm (DAPF). Details concerning data registration and exemplary results obtained with the use or real navigational data are introduced and summarized in the paper. Presented results prove the applicability of proposed algorithms for solving the ship's safe trajectory planning problem.