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A maneuvering decision-making model based on time series rolling and feedback compensation methods is proposed to solve the problem of high traffic risk in Chengshantou traffic separation scheme (TSS) waters. Firstly, a digital traffic environment model suitable for the TSS waters is proposed. Secondly, a navigation risk identification method in th...
Contexts in source publication
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... this work, we adopt the coordinate system depicted in Figure 1. The geodetic fixed coordinate system XOY is established with (λ 0 , ϕ 0 ) as the origin coordinates. ...
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... this work, we adopt the coordinate system depicted in Figure 1. The geodetic fixed coordinate system XOY is established with (í µí¼ , í µí¼ ) as the origin coordinates. ...
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... resuming sailing, the target point is the inter section of the planned route of the current segment and the line between this segment an the next segment of the traffic lane. Figure 10 shows a schematic diagram of the resume sailing method, with í µí± poin ing to true north, WPT2 representing the target point of the OS's resume sailing, í µí° ¶ ,,, representing the current segment's planned route direction (the course from waypoin WPT1 to waypoint WPT2), and í µí±í µí°µ representing the true bearing of the OS relative to th target point. ...
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... resuming sailing, the target point is the intersection of the planned route of the current segment and the line between this segment and the next segment of the traffic lane. Figure 10 shows a schematic diagram of the resume sailing method, with N T pointing to true north, WPT2 representing the target point of the OS's resume sailing, C w,w+1 representing the current segment's planned route direction (the course from waypoint WPT1 to waypoint WPT2), and TB representing the true bearing of the OS relative to the target point. ...
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... discrete method can be used to find the earliest resume time. The diagram of Figure 11 depicts the specific calculating procedure. This work develops the maneuvering decision-making method, as shown in Figure 12. ...
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... diagram of Figure 11 depicts the specific calculating procedure. This work develops the maneuvering decision-making method, as shown in Figure 12. The collision avoidance system continually cycles the process at 5 s intervals throughout the operation, based on the above research. ...
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... discrete method can be used to find the earliest resume time. The diagram of Figure 11 depicts the specific calculating procedure. ...
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... work develops the maneuvering decision-making method, as shown in Figure 12. The collision avoidance system continually cycles the process at 5 s intervals throughout the operation, based on the above research. ...
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... discrete method can be used to find the earliest resume time. The diagram of Figure 11 depicts the specific calculating procedure. This work develops the maneuvering decision-making method, as shown in Figure 12. ...
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... diagram of Figure 11 depicts the specific calculating procedure. This work develops the maneuvering decision-making method, as shown in Figure 12. The collision avoidance system continually cycles the process at 5 s intervals throughout the operation, based on the above research. ...
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... 3 contains the initial parameters of the OS and TSs. Figure 13a depicts the initial scene of the experiment, and Figure 13b-d displays the trajectory of the OS at different times. ...
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... the experiment, four TSs were put up in the traffic environment of Chengshantou TSS waters. Table 3 contains the initial parameters of the OS and TSs. Figure 13a depicts the initial scene of the experiment, and Figure 13b-d displays the trajectory of the OS at different times. ...
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... 3 contains the initial parameters of the OS and TSs. Figure 13a depicts the initial scene of the experiment, and Figure 13b-d displays the trajectory of the OS at different times. When T = 1757 s, it will start to return to the original planning route and will be back to it when T = 3646 s. ...
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... the experiment, four TSs were put up in the traffic environment of Chengshantou TSS waters. Table 3 contains the initial parameters of the OS and TSs. Figure 13a depicts the initial scene of the experiment, and Figure 13b-d displays the trajectory of the OS at different times. When T = 1757 s, it will start to return to the original planning route and will be back to it when T = 3646 s. ...
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... T = 1757 s, it will start to return to the original planning route and will be back to it when T = 3646 s. The trajectory of the OS's overtaking and returning to the planned route is shown in Figure 13b. shows the initial position and course of the OS and the TSs in the Chengshantou TSS. ...
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... T = 1757 s, it will start to return to the original planning route and will be back to it when T = 3646 s. The trajectory of the OS's overtaking and returning to the planned route is shown in Figure 13b. Figure 13c shows that the OS detected a port crossing situation with TS4, and the CRI value is 0.2 at T = 5089 s. ...
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... trajectory of the OS's overtaking and returning to the planned route is shown in Figure 13b. Figure 13c shows that the OS detected a port crossing situation with TS4, and the CRI value is 0.2 at T = 5089 s. The OS made a 7 • starboard course alteration to successfully complete the avoidance. ...
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... started the resumption at T = 5872 s, returning to the original planned route at T = 6228 s and sailing to the next target point. Finally, the destination is reached when T = 9867 s, as shown in Figure 13d. ...
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... experiment set up two TSs with a variable course, three TSs navigating in the general direction of the traffic lane, and one TS keeping course and speed in this simulation traffic environment. The initial parameters for both the OS and the TSs are shown in Table 4. Figure 14a is the initial scene of this experiment. Figure 14b-e shows the OS's trajectory at different times and in different encounter situations, respectively. ...
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... initial parameters for both the OS and the TSs are shown in Table 4. Figure 14a is the initial scene of this experiment. Figure 14b-e shows the OS's trajectory at different times and in different encounter situations, respectively. When T = 1 s, OS and TS1 are in an overtaking situation, and the CR between the two is 0.5, then the OS alters course 4 • to the starboard side to overtake TS1. ...
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... T = 1 s, OS and TS1 are in an overtaking situation, and the CR between the two is 0.5, then the OS alters course 4 • to the starboard side to overtake TS1. The overtake is completed at T = 993 s, and then the maneuver of returning to the original planned route begins, as shown in Figure 14a,b. ...
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... maneuver of resuming the original route is started at T = 3365 s. The trajectory of the OS is displayed in Figure 14c. ...
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... T = 4858 s, OS is in a head-on situation with TS3, and the CR is 0.14. Figure 14d shows the trajectory of the OS course, altering 6 • to the starboard to avoid collision and beginning the resuming of the planned route maneuver at T = 5823 s. Finally, the destination is reached when T = 9774 s, as shown in Figure 14e. ...
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... T = 4858 s, OS is in a head-on situation with TS3, and the CR is 0.14. Figure 14d shows the trajectory of the OS course, altering 6 • to the starboard to avoid collision and beginning the resuming of the planned route maneuver at T = 5823 s. Finally, the destination is reached when T = 9774 s, as shown in Figure 14e. ...
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... 5 contains the initial parameters of the OS and TS. Figure 15 depicts the initial scene of the experiment. The ship trajectory in Figure 16a is obtained using the method proposed in this study. ...
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... 5 contains the initial parameters of the OS and TS. Figure 15 depicts the initial scene of the experiment. The ship trajectory in Figure 16a is obtained using the method proposed in this study. The ship trajectory in Figure 16b is obtained by the velocity obstacle method. ...
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... ship trajectory in Figure 16a is obtained using the method proposed in this study. The ship trajectory in Figure 16b is obtained by the velocity obstacle method. ...
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... 46,000 When T = 1 s, OS and TS1 are in an overtaking situation, and the CR between the two is 0.5, then the OS alters course 4° to the starboard side to overtake TS1. The overtake is completed at T = 993 s, and then the maneuver of returning to the original planned route begins, as shown in Figure 14a,b. ...
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... Figure 16a, when T = 292 s, the OS identifies the presence of a collision risk and alters course by 18° to the starboard to avoid collision. When T = 1435 s, the OS begins to resume the planned route. ...
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... T = 1435 s, the OS begins to resume the planned route. In Figure 16b, when T = 1356 s, the OS identifies the presence of a collision risk and alters course by 23° to the starboard to avoid collision. When T = 2089 s, the OS begins to resume the planned route. ...
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... Figure 16a, when T = 292 s, the OS identifies the presence of a collision risk and alters course by 18° to the starboard to avoid collision. When T = 1435 s, the OS begins to resume the planned route. ...
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... T = 1435 s, the OS begins to resume the planned route. In Figure 16b, when T = 1356 s, the OS identifies the presence of a collision risk and alters course by 23° to the starboard to avoid collision. When T = 2089 s, the OS begins to resume the planned route. ...
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... can be seen that the method proposed in this study can identify the collision risk earlier and make corresponding avoidance measures when the OS alters course along the traffic flow. In Figure 16a, when T = 292 s, the OS identifies the presence of a collision risk and alters course by 18 • to the starboard to avoid collision. When T = 1435 s, the OS begins to resume the planned route. ...