Abstract
Formal expression of ship behavior is the basis for developing autonomous navigation systems, which supports the scene recognition, the intention inference, and the rule-compliant actions of the systems. The Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) offers experience-based expressions of ship behavior for human beings, helping the humans recognize the scene, infer the intention, and choose rule-compliant actions. However, it is still a challenge to teach a machine to interpret the COLREGs. This paper proposed an ontological ship behavior model based on the COLREGs using knowledge graph techniques, which aims at helping the machine interpret the COLREGs rules. In this paper, the ship is seen as a temporal-spatial object and its behavior is described as the change of object elements in time spatial scales by using Resource Description Framework (RDF), function mapping, and set expression methods. To demonstrate the proposed method, the Narrow Channel article (Rule 9) from COLREGs is introduced, and the ship objects and the ship behavior expression based on Rule 9 are shown. In brief, this paper lays a theoretical foundation for further constructing the ship behavior knowledge graph from COLREGs, which is helpful for the complete machine reasoning of ship behavior knowledge in the future.
Highlights
Ship behavior refers to the movement of the ship in response to the traffic situation, which usually reflects the intention of the officer on watch (OOW) at present and influences the trajectory of the ship in the future
In order to help the machine understands the behavior of the ship based on COLREGs, the techniques from the knowledge graph are introduced and the methodology of ontological ship behavior modeling is developed by using Resource Description Framework (RDF), function mapping, and set expression methods
The rest of this paper is organized as follows: the studies on ship behavior modeling are overviewed in Section 2; Section 3 introduces the definitions of ship objects, attribute elements, and relational elements, followed by a conceptual model of ship behavior and the formal expression of ship behaviors according to the COLREGs in Section 4; case studies, discussion, and conclusions are addressed in Sections 5–7, respectively
Summary
Ship behavior refers to the movement of the ship in response to the traffic situation, which usually reflects the intention of the officer on watch (OOW) at present and influences the trajectory of the ship in the future. From the perspective of traffic management, the vessel traffic service operators (VTSO) need to judge the development of the situation based on the analysis of the ship behavior and identify the near-miss as early as possible; from the perspective of ship navigation, the OOW or intelligent systems need to infer the intention of other ships and predict their trajectories based on the observed ship behavior before taking evasive actions [2]. The ship is seen as a temporal-spatial object containing attribute elements and relational elements; the behavior, is described as the changes of the elements in time-spatial scales. Based on these techniques, the proposed method can be used to identify the intentions of the ships and their violation behavior, which has the potential of improving the autonomy level of the ships and decision support system in VTS. The rest of this paper is organized as follows: the studies on ship behavior modeling are overviewed in Section 2; Section 3 introduces the definitions of ship objects, attribute elements, and relational elements, followed by a conceptual model of ship behavior and the formal expression of ship behaviors according to the COLREGs in Section 4; case studies, discussion, and conclusions are addressed in Sections 5–7, respectively
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