Research on Collision Avoidance of Multiple Ships Based on Fuzzy Ship Domain Model

To reduce the error probability of decision-making for collision avoidance and improve the safety of multi-ship encounter situations, a collision avoidance algorithm was proposed based on the fuzzy ship domain model. Considering the influence of ship speed and length, a fuzzy ship domain model was proposed based on the fuzzy inference system (FIS), and the validity of the model was demonstrated by comparing the results with other models. Through the geometric relationship between the traj ectory of the target ship and the domain of this ship, ship conflict is predicted. Based on the proposed collision avoidance algorithm, the optimal collision avoidance measures are determined according to Conventions on the International Regulations for Preventing Collision at Sea. The results show that the fuzzy ship domain model is similar to other models in shape and scope, and the range of the ship domain can be inferred quickly based on the expert knowledge system. The fuzzy ship domain model can be applied to the collision avoidance algorithm, which can be used to determine reasonable collision avoidance measures.