The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship's State Vector.

The determination of a ship's safe trajectory in collision situations at sea is one of the basic functions in autonomous navigation of ships. While planning a collision avoiding manoeuvre in open waters, the navigator has to take into account the ships manoeuvrability and hydrometeorological conditions. To this end, the ship's state vector is predicted-position coordinates, speed, heading, and other movement parameters-at fixed time intervals for different steering scenarios.