Collision between ships is one of the major contributors to ship accidents. To facilitate the development of the real-time collision risk analysis model for collision avoidance, in this research, an improved Rule-aware Time-varying Collision risk Model is proposed, which considers the estimation of target ship motion and the corresponding uncertainty in the risk analysis process. To make the collision risk model more in line with the actual situation, ship maneuverability, the COLREGs, and good seamanship are considered and integrated into the framework of the TCR model. Firstly, the Gaussian process is used to predict the potential trajectories of the target ship. Secondly, the Probabilistic Velocity Obstacle (PVO) model is utilized to integrate the uncertainty of the target ship's motion into the collision risk model. The collision risk is therefore formulated as a ratio of available maneuvers leading to a collision to all available maneuvers. To verify the effectiveness of collision risk, two actual target ships and six groups of collision risk detection experiments under different encounter scenarios were carried out. Compared with the traditional collision risk index model and original R-TCR model, the collision risk detected by the Improved R-TCR model is closer to the actual situation.@en

In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorpo-rates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.@en

In this research, a hybrid approach for global path planning for Maritime Autonomous Surface Ship (MASS) is proposed, which generates the shortest path considering the collision risk and the proximity between path and obstacles. The collision risk concerning obstacles is obtained using Time-Varying Collision Risk (TCR) concept, taking into account the velocity constraint of the ship that can achieve during operation. The influence of proximity from obstacles is measured with the Fast Marching (FM) algorithm. A new cost function is proposed allowing to combine the influence of obstacle proximity and collision risk in the region. Finally, the Fast Marching Square algorithm is applied to generate the globally optimal path that can reach the pre-set destination. The contribution of this work is two-fold: 1) considering the velocity constraint of the own ship, together with its influences of collision risk into the global path planning stage of autonomous navigation. 2) measuring the collision risk induced by the obstacles from their comprehensive influences on the achievable velocity range using TCR concept, instead of numerical integration of risk measurement. The results of the case study indicate that the proposed approach can find an optimal path considering the collision risk and proximity from the obstacles.@en

The consequences caused by bridge failures owing to the ship-bridge collision are always severe in terms of loss of life, economy, and environmental consequences to individuals and societies. The previous studies focused on the ship-bridge collision mainly concentrated on passive anti-collision, such as strengthening the bridge structure or setting anti-collision facilities. Compared with the previous research, the contribution of this work is to facilitate the reduction of collision risk of ship-bridge collision from the perspective of active anti-collision. A data-driven approach for ship-bridge collision candidate detection method in inland bridge waterways is proposed in this research. The approach is mainly divided into two steps: 1) The features (channel boundary, pier domain, and ship domain) of bridge waterways are identified using Kernel Density Estimation (KDE) method based on the historical AIS data; 2) Collision candidate detection with Velocity Obstacle (VO) method considering the identified features. This work can provide beneficial support for the ship-bridge active collision avoidance system.@en

Regional risk analysis and management of maritime accidents is one of the fundamental tasks for maritime safety management. With the heavy and complicated maritime traffic in the ports and waterways, accidents, especially ship collision accidents, have been continuously posing threats to the maritime transportation system. To achieve effective and prompt identification of collision risk and to facilitate the stakeholders such as Maritime Safety Administration, this paper proposes an integrated approach for regional collision risk analysis and maritime safety management in busy ports and waterways. Firstly, regional gridding is used to link accident data and traffic data based on geographical location; Secondly, the risk model based on accident data is established. The reliability of the accident risk model is verified by data feature analysis. Finally, non-accident critical events are mined from historical accident data and traffic data as surrogate indicators of collision accidents. A regional real-time risk model is developed for integrating the accident risk model and non-accident critical events risk model by using random forest. A case study in Shenzhen port indicates that the proposed collision risk model can identify high-risk areas and facilitates maritime safety management to improve the safety level of vessel traffic in these areas. In this paper, the regional grid is used to overcome the shortcomings of different scales between data, and a real-time risk model is established by combining accidents and traffic. The 15-year maritime collision accidents are used for collision risk modeling, which improves the performance of the model.@en

The maritime shipping industry has been making significant contributions to the development of the regional and global economy. However, maritime accidents and their severe consequences have been posing an incrementing risk to the individuals and societies. It is therefore important to conduct risk analysis on such accidents to support maritime safety management. In this paper, a modified ship collision candidate detection method is proposed as a tool for collision risk analysis in ports and waterways. Time‐Discrete Velocity Obstacle algorithm (TD‐NLVO) is utilized to detect collision candidates based on the encounter process extracted from AIS data. Ship domain model was further integrated into the algorithm as the criteria for determination. A case study is conducted to illustrate the efficacy of the improved model, and a comparison between the existing method and actual ship trajectories are also performed. The results indicate that with the integration of ship domain, the new method can effectively detect the encounters with significant collision avoidance behaviours. The choice of criteria can have a significant influence on the results of collision candidate detection.@en

Collison between ships is one of the major contributors to maritime accidents. To reduce ship collision accidents, the research on collision avoidance decision-making has been drawing much attention from various parties. In this research, extensive literature and expert knowledge are collected and analyzed to identify the common sense and discrepancies between collision avoidance decision-making for theoretical research and navigation practices. The key factors that are considered in the two perspectives are identified and discussed, based on which, the knowledge structures that can represent the development of the process in the two perspectives are established. A series of comparisons between the knowledge structure based on theoretical research and navigation practices are conducted. The comparisons indicate clear common sense and discrepancies between the theoretical research and navigation practices regarding collision avoidance decision-making. The potential causes of them are also analyzed. The research results would be beneficial for the development of collision avoidance decision-making for both autonomous and conventional manned ships in maritime traffic.@en

Conflict detection is a vital step of collision prevention at sea, determining if there is a risk of collision and when to take preventing actions. This article proposes a practical Rule-aware Time-varying Conflict Risk (R-TCR) for ship collision avoidance. Considering maritime practice, the conflict risk measure takes the ship maneuverability, the COLREGs, and good seamanship into account in the conflict risk measure. Specifically, the conflict risk is formulated as a ratio of achievable maneuvers leading to a collision to all achievable maneuvers. Simulations are carried out to show the characteristics of R-TCR. The results show that the R-TCR evaluates the entire conflict risk incorporating COLREG rules, multiple targets, different maneuverability, and varying ship domains. Finally, the proposed measure is applied to analyze the collision accident between two ships. Compared with the conventional risk indicators, the proposed R-TCR can deliver extra information to users, such as providing early warning, showing the room-for-maneuver, and suggesting evasive actions. Besides, the extra information also supports collision avoidance for autonomous ships. @en

Conflict detection is a vital step of collision prevention at sea, determining if there is a risk of collision and when to take preventing actions. This article proposes a practical Rule-aware Time-varying Conflict Risk (R-TCR) for ship collision avoidance. Considering maritime practice, the conflict risk measure takes the ship maneuverability, the COLREGs, and good seamanship into account in the conflict risk measure. Specifically, the conflict risk is formulated as a ratio of achievable maneuvers leading to a collision to all achievable maneuvers. Simulations are carried out to show the characteristics of R-TCR. The results show that the R-TCR evaluates the entire conflict risk incorporating COLREG rules, multiple targets, different maneuverability, and varying ship domains. Finally, the proposed measure is applied to analyze the collision accident between two ships. Compared with the conventional risk indicators, the proposed R-TCR can deliver extra information to users, such as providing early warning, showing the room-for-maneuver, and suggesting evasive actions. Besides, the extra information also supports collision avoidance for autonomous ships. @en

Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.@en

Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.@en

Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.@en

Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.@en

Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.@en

Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.@en

Ship collision is one of the major contributors of maritime accidents. Quantitative risk analysis of such accidents is an effective tool for maritime safety administrations to understand the current risk level and propose risk mitigation measures. In this paper, an improved Time Discretized Non-linear Velocity obstacle (TD-NLVO) algorithm is proposed to detect multiple ship encounter situations using historical AIS data. Boolean operation on the individual NLVO is integrated with TD-NLVO using the union of the velocity-obstacle sets to determine a dangerous encounter situation according to the pre-set criteria. Two case studies are implemented to illustrate the capability of the proposed algorithm. A comparison is conducted between the previous and the improved methods. The results indicate that the improved method can effectively identify a multiple ship encounter which satisfies the pre-set criteria. The improved method has the potential to provide more detailed information for stakeholders e.g. maritime safety administration, etc. to propose risk mitigation measures as well as to improve the accuracy of geometric probability analysis for ship collision risk.@en