Method of considering the dynamics of a ship in the process of determining a safe trajectory using an algorithm based on Ant Colony Optimization

The aim of this paper is to introduce a method of taking into account the dynamic properties of a ship in the algorithms for determining the safe ship trajectory. The developed methodology of the ship's dynamics implementation in the safe ship trajectory determination algorithm in the form of a parameter called the maneuver time is presented for an exemplary vessel. A method for computation of a family of characteristics showing the relationship of the maneuver time as a function of course change value for different values of a rudder angle and for different values of ship's speed is introduced. After that a description of the computed maneuver time implementation in the safe ship trajectory planning algorithm is introduced and results of an exemplary test case are presented and summarized.