The branch-and-bound method and genetic algorithm in avoidance of ships collisions in fuzzy environment

Marine navigation consists in continuous observation of the situation at sea, determination the anti-collision manoeuvre. So it necessary to determine ship safe trajectory as a sequence of ship course changing manoeuvres. Each manoeuvre is undertaken on the basis of information obtained from the anti-collision system ARPA. This paper describes a method of safe ship control in the collision situation in a fuzzy environment based on a branch and bound method and a genetic algorithm. The optimal safe ship trajectory in a collision situation is presented as multistage decision-making process.