Evolutionary Sets of Safe Ship Trajectories: the method's development and selected research results


  • Rafał Szłapczynski Gdansk University of Technology, Gdansk, Poland Author
  • Joanna Szłapczynska Gdynia Maritime University, Gdynia, Poland Author




marine navigation, collision avoidance, evolutionary algorithms


The Evolutionary Sets of Safe Ship Trajectories is a method solving ship encounter situations. The method combines evolutionary approach to planning ship trajectory with some of the assumption of game theory. For given positions and motion parameters the method finds a near optimal set of safe trajectories of all ships involved in an encounter. This paper presents framework of the method and its development. Additionally, selected method's results for two multi-ship encounters are provided.


Cockroft A.N., Lameijer J.N.F.: A Guide to Collision Avoidance Rules, Butterworth-Heinemann Ltd., 1993.

Coldwell T.G.: Marine Traffic Behaviour in restricted Waters, The Journal of Navigation, 36, 431-444, 1982.

Davis P.V., Dove M.J., Stockel C.T.: A Computer Simulation of multi-Ship Encounters. The Journal of Navigation, 35, 347-352, 1982.

Fuji J., Tanaka K.: Traffic Capacity. The Journal of Navigation, 24, 543-552, 1971.

Goodwin E.M.: A Statistical Study of Ship Domains. The Journal of Navigation, 28, 329-341, 1975.

Lisowski J.: Dynamic games methods in navigator decision support system for safety navigation, Proceedings of the European Safety and Reliability Conference, vol. 2, 1285-1292, 2005.

Smierzchalski R., Michalewicz Z.: Modeling of a Ship Trajectory in Collision Situations at Sea by Evolutionary Algorithm, IEEE Transactions on Evolutionary Computation No. 3 Vol. 4, pp. 227-241, 2000.

Szlapczynski R.: Solving multi-ship encounter situations by evolutionary sets of cooperating trajectories, Marine Navigation and Safety of Sea Transportation, CRC Press/Taylor & Francis Group/Balkema, 437-442, June 2009.

Szlapczynski R.: A new method of ship routing on raster grids, with turn penalties and collision avoidance, The Journal of Navigation, 59, 27-42, 2006.

Szlapczynski R.: A new method of planning collision avoidance manoeuvres for multi target encounter situations, The Journal of Navigation, 61, 307-321, 2008.

Szlapczynski R.: A unified measure of collision risk derived from the concept of a ship domain, The Journal of Navigation, 59, 477-490, 2006.






Original articles

How to Cite

Szłapczynski, R., & Szłapczynska, J. (2011). Evolutionary Sets of Safe Ship Trajectories: the method’s development and selected research results. Archives of Transport, 23(2), 223-238. https://doi.org/10.2478/v10174-011-0015-8


Most read articles by the same author(s)

1 2 3 4 5 6 7 8 9 10 > >> 

Similar Articles

1-10 of 64

You may also start an advanced similarity search for this article.