Abstract—The paper introduces comparison of computational intelligence methods based on fuzzy sets and matrix game to determine the safe ship trajectory in collision situations at sea. Optimal safe ship trajectory is presented as multistage decision-making in fuzzy environment and as multistep decision-making in game environment. The navigator's subjective and the maneuvering parameters are taken under consideration in the model process. The exemplary results of the performed computer simulations for real navigational situation confronting the three moving objects are discussed. The developed solution can be applied in decision support systems on board a ship.
Index Terms— Collision avoidance, fuzzy set theory, game theory, neural network, safe trajectory, ship control.
I. Introduction
One of the most important transport issues are the processes of optimal and safe control of cars, trains, airplanes and ships as moving objects [1-4].
The development of modern information technologies creates appropriate opportunities for automation of navigation and the construction of decision support systems to control the movement of a ship (Fig. 1) [3], [7], [9].