Automatic collision avoidance of ships

Y. Xue, B.S. Lee, D. Han

Research output: Contribution to journalArticlepeer-review

59 Citations (Scopus)
669 Downloads (Pure)


One of the key elements in automatic simulation of ship manoeuvring in confined waterways is route finding and collision avoidance. This paper presents a new practical method of automatic trajectory planning and collision avoidance based on an artificial potential field and speed vector. Collision prevention regulations and international navigational rules have been incorporated into the algorithm. The algorithm is fairly straightforward and simple to implement, but has been shown to be effective in finding safe paths for all ships concerned in complex situations. The method has been applied to some typical test cases and the results are very encouraging.
Original languageEnglish
Pages (from-to)33-46
Number of pages14
JournalProceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
Issue number1
Publication statusPublished - 11 Dec 2008


  • collision avoidance
  • potential field
  • speed vector
  • manoeuvring simulator


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