Abstract
Maneuvers of human-operated and autonomous marine vessels in the safety zone of drilling rigs, wind farms and other installations present a risk of collision. This article proposes an algorithmic toolkit that ensures maneuver safety, taking into account the restrictions imposed by ship dynamics. The algorithms can be used for anomaly detection, decision making by a human operator or an unmanned vehicle guidance system. We also consider a response to failures in the vessel’s control systems and emergency escape maneuvers. Data used by the algorithms come from the vessel’s dynamic positioning control system and positional survey charts of the marine installations.
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