Method of Guaranteed Collision Avoidance with Multiple Unpredictable Target-Vessels

The controlled vessel motion to the target waypoint is considered in the unpredictable navigation environment of multiple target-vessels. Conditions for guaranteed collisions avoidance are determined on the basis of areas of possible collisions in speed space on an infinite planning horizon. Navigation safety is ensured by choosing a trajectory from a set of safe trajectories determined on the basis of the areas of possible collisions in speed space at given moments of motion reprogramming. The current running trajectory, corresponding to constant course and speed, ensures that there is no risk of collisions. The performed researches contribute to the improvement of safe navigation.