Path Planning of Ship Collision Avoidance Based on Stochastic Schemata Exploiter

Abstract

In recent years, autonomous navigation of ships has become a hot research area in shipping industry. There is no doubt that safe collision avoidance is an important part of ship autonomous navigation. To improve safety and economy of ship in the process of ship collision avoidance, this paper proposed a path planning method for ship collision avoidance based on heuristic algorithm. In that, the sailing distance and the altering angle as genetic gene construct ship path of collision avoidance. Experimentally, stochastic schemata exploiter (SSE) and genetic algorithm (GA) and were employed as optimization method to verify the feasibility of the proposed path planning method. The optimal ship collision avoidance path can be obtained. Compared with previous research, the accuracy of ship path planning was improved from 1 degree, 0.25 nautical miles to 0.1degree, 0.1 nautical mile for ship steering angle and ship navigation distance. The main contribution of this paper is that the accuracy problem of ship path planning is considered and one ship path planning method is proposed to improve accuracy of ship collision avoidance path planning.