Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles
A single anti-collision trajectory generation problem for an “own” vessel only is significantly different from the challenge of generating a whole set of safe trajectories for multi-surface vehicle encounter situations in the open sea. Effective solutions for such problems are needed these days, as...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/15/4115 |
| _version_ | 1797561466254000128 |
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| author | Jolanta Koszelew Joanna Karbowska-Chilinska Krzysztof Ostrowski Piotr Kuczyński Eric Kulbiej Piotr Wołejsza |
| author_facet | Jolanta Koszelew Joanna Karbowska-Chilinska Krzysztof Ostrowski Piotr Kuczyński Eric Kulbiej Piotr Wołejsza |
| author_sort | Jolanta Koszelew |
| collection | DOAJ |
| description | A single anti-collision trajectory generation problem for an “own” vessel only is significantly different from the challenge of generating a whole set of safe trajectories for multi-surface vehicle encounter situations in the open sea. Effective solutions for such problems are needed these days, as we are entering the era of autonomous ships. The article specifies the problem of anti-collision trajectory planning in many-to-many encounter situations. The proposed original multi-surface vehicle beam search algorithm (MBSA), based on the beam search strategy, solves the problem. The general idea of the MBSA involves the application of a solution for one-to-many encounter situations (using the beam search algorithm, BSA), which was tested on real automated radar plotting aid (ARPA) and automatic identification system (AIS) data. The test results for the MBSA were from simulated data, which are discussed in the final part. The article specifies the problem of anti-collision trajectory planning in many-to-many encounter situations involving moving autonomous surface vehicles, excluding Collision Regulations (COLREGs) and vehicle dynamics. |
| first_indexed | 2024-03-10T18:15:20Z |
| format | Article |
| id | doaj.art-badfcd6c4d0e482f892e60aea5896ab7 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T18:15:20Z |
| publishDate | 2020-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-badfcd6c4d0e482f892e60aea5896ab72023-11-20T07:48:01ZengMDPI AGSensors1424-82202020-07-012015411510.3390/s20154115Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface VehiclesJolanta Koszelew0Joanna Karbowska-Chilinska1Krzysztof Ostrowski2Piotr Kuczyński3Eric Kulbiej4Piotr Wołejsza5Faculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, PolandFaculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, PolandFaculty of Computer Science, Bialystok University of Technology, 15-351 Bialystok, PolandUnity Developer, The Dust, 50-043 Wrocław, PolandR&D Department, Sup4Nav sp. z o.o., 71-602 Szczecin, PolandFaculty of Computer Science and Telecommunication, Maritime University of Szczecin, 70-500 Szczecin, PolandA single anti-collision trajectory generation problem for an “own” vessel only is significantly different from the challenge of generating a whole set of safe trajectories for multi-surface vehicle encounter situations in the open sea. Effective solutions for such problems are needed these days, as we are entering the era of autonomous ships. The article specifies the problem of anti-collision trajectory planning in many-to-many encounter situations. The proposed original multi-surface vehicle beam search algorithm (MBSA), based on the beam search strategy, solves the problem. The general idea of the MBSA involves the application of a solution for one-to-many encounter situations (using the beam search algorithm, BSA), which was tested on real automated radar plotting aid (ARPA) and automatic identification system (AIS) data. The test results for the MBSA were from simulated data, which are discussed in the final part. The article specifies the problem of anti-collision trajectory planning in many-to-many encounter situations involving moving autonomous surface vehicles, excluding Collision Regulations (COLREGs) and vehicle dynamics.https://www.mdpi.com/1424-8220/20/15/4115anti-collision trajectoriesmany-to-many encounter situationautonomous surface vehiclebeam search algorithm (BSA)multi-surface vehicle beam search algorithm (MBSA) |
| spellingShingle | Jolanta Koszelew Joanna Karbowska-Chilinska Krzysztof Ostrowski Piotr Kuczyński Eric Kulbiej Piotr Wołejsza Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles Sensors anti-collision trajectories many-to-many encounter situation autonomous surface vehicle beam search algorithm (BSA) multi-surface vehicle beam search algorithm (MBSA) |
| title | Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles |
| title_full | Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles |
| title_fullStr | Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles |
| title_full_unstemmed | Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles |
| title_short | Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles |
| title_sort | beam search algorithm for anti collision trajectory planning for many to many encounter situations with autonomous surface vehicles |
| topic | anti-collision trajectories many-to-many encounter situation autonomous surface vehicle beam search algorithm (BSA) multi-surface vehicle beam search algorithm (MBSA) |
| url | https://www.mdpi.com/1424-8220/20/15/4115 |
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