Abstract
This paper presents an analysis of ship-group navigation simulations based on an autonomous ship behavior cluster model. In this model, maneuvering decisions of a ship agent are computed by combining four independent forces : goal attainment force, contracting force, expanding force, and cluster collision avoidance force. The magnitude of each force is determined by a sigmoid function which takes distance to a relevant point/vessel as input. Although fairly simple, the sigmoid function led to flexible decision-making. The characteristic of group behavior was compared using two kinds of agents, the estimation type agent which can estimate risk of collision, and the non-estimation type agent which lacks this function. The estimation type agents exhibited better performance in terms of tracks, the distance of CPA and the total amount of course altered.
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