Decision Support Based on Optimal Collision Avoidance Path and Collision Risk

In order to solve the problem of collision avoidance decision-making by using the ship domain that only can be applied to certain waters, and if's connected parameters cannot match the evaluation parameters of collision risk (CR), the optimal collision risk model based on Fuzzy Quaternion Ship Domains (FQSD) was been proposed. In order to solve the problem when making decision to avoid collision by using the shortest distance that does not consider cross track error (XTE) and time deviation (TDEV), and it also cannot let the overall voyage(OV) to be the shortest throughout the voyage, the objective function combines with XTE, TDEV and OV was been proposed. Considering with the ship domain, The International Regulations for Preventing Collisions at Sea 1972 (COLREGS) (IMO 1972) and the watch officer's subjective consciousness, the optimal collision avoidance path was been obtained by using the particle swarm optimization (PSO) algorithm. The simulation results show that the above optimal method can quickly obtain the optimal collision avoidance path and improve the safety and energy efficiency of transportation.