Repozytorium publikacji - Politechnika Gdańska

The paper is concerned with the problem of safe trajectory planning for approaching during emergency STS (Ship to Ship) transfer operation with oil spill. The safe trajectory means that the way points does not cross in the area of the environment with the static and dynamic obstacles and at the same time satisfies ship's stopping and speed deceleration performance. The evolutionary path planning algorithm is used to determine trajectory designed as way points and straight line segments between them. The way points - ship positions and velocity can be treated as reference value to support navigator in decision making during Approach Manoeuvre and to mitigate the risk of collision which mostly results from exceed velocity of approaching. The task of trajectory planning is defined as constant optimization process to minimize trajectory length, course alteration and maximize safety in a navigational environment. This paper examines exemplary navigational scenario based on emergency STS accident.

Autorzy

• dr hab. Anna Witkowska link otwiera się w nowej karcie ,
• prof. dr hab. inż. Roman Śmierzchalski link otwiera się w nowej karcie ,
• Przemyslaw Wilczynski