Ship’s Trajectory Planning Based on Improved Multiobjective Algorithm for Collision Avoidance

<table class="fixed-width table-group" id="tab7"><tr><td><table class="table"><colgroup><col style="width:7.11em"/><col style="width:8.44em"/><col style="width:4.84em"/><col style="width:2.79em"/><col style="width:2.97em"/><col style="width:2.41em"/><col style="width:2.94em"/></colgroup><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Path Length (nm)</td><td class="align_center">Path safe</td><td class="align_center"><span style="width: 12.1485ptpx;"><svg height="12.2532pt" id="M179" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -8.96212 12.1485 12.2532" width="12.1485pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M452 282C452 397 389 451 302 451C268 451 227 441 188 422C95 377 24 281 24 154C24 65 70 -12 173 -12C240 -12 297 16 342 52C418 113 452 201 452 282ZM359 282C359 163 308 66 247 39C237 35 225 32 212 32C151 32 114 79 114 157C114 301 180 380 223 398C240 405 250 408 265 408C315 408 359 369 359 282Z"></path></g></svg></span></td><td class="align_center"><span style="width: 13.5969ptpx;"><svg height="11.927pt" id="M180" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 13.5969 11.927" width="13.5969pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.619,3.132)"><path d="M452 282C452 397 389 451 302 451C268 451 227 441 188 422C95 377 24 281 24 154C24 65 70 -12 173 -12C240 -12 297 16 342 52C418 113 452 201 452 282ZM359 282C359 163 308 66 247 39C237 35 225 32 212 32C151 32 114 79 114 157C114 301 180 380 223 398C240 405 250 408 265 408C315 408 359 369 359 282Z"></path></g></svg></span></td><td class="align_center"><span style="width: 12.4956ptpx;"><svg height="12.2532pt" id="M181" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -8.96212 12.4956 12.2532" width="12.4956pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M490 97L476 124C442 96 405 70 398 70C392 70 390 78 396 114C419 243 448 379 463 432L457 436C446 436 431 439 418 442C393 447 368 451 343 451C281 451 204 418 155 381C74 320 24 206 24 107C24 23 59 -12 88 -12C118 -12 155 5 191 34C236 70 290 122 328 177H330L312 84C296 0 311 -12 331 -12C355 -12 425 24 490 97ZM374 387C371 367 360 299 347 264C323 202 187 53 142 53C128 53 113 73 113 120C113 224 157 332 221 380C241 395 274 403 303 403C330 403 360 395 374 387Z"></path></g></svg></span></td><td class="align_center"><span style="width: 13.944ptpx;"><svg height="11.927pt" id="M182" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 13.944 11.927" width="13.944pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M645 631C614 643 545 666 457 666C215 666 23 519 23 283C23 90 158 -16 337 -16C412 -16 489 2 522 10C543 39 590 127 606 167L580 181C519 89 459 18 348 18C201 18 122 136 122 287C122 464 244 632 435 632C544 632 602 595 608 472L639 475C643 526 645 581 645 631Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.619,3.132)"><path d="M490 97L476 124C442 96 405 70 398 70C392 70 390 78 396 114C419 243 448 379 463 432L457 436C446 436 431 439 418 442C393 447 368 451 343 451C281 451 204 418 155 381C74 320 24 206 24 107C24 23 59 -12 88 -12C118 -12 155 5 191 34C236 70 290 122 328 177H330L312 84C296 0 311 -12 331 -12C355 -12 425 24 490 97ZM374 387C371 367 360 299 347 264C323 202 187 53 142 53C128 53 113 73 113 120C113 224 157 332 221 380C241 395 274 403 303 403C330 403 360 395 374 387Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">GA</td><td class="align_center">4.05</td><td class="align_center">0.78</td><td class="align_center">11.9</td><td class="align_center">18.3</td><td class="align_center">9.5</td><td class="align_center">54.1</td></tr><tr><td class="align_left" colspan="7"><hr/></td></tr><tr><td class="align_left">DM- NSGA-II</td><td class="align_center">3.77</td><td class="align_center">0.89</td><td class="align_center">13.6</td><td class="align_center">34.4</td><td class="align_center">7.1</td><td class="align_center">82.0</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Journal of Advanced Transportation

tab7

Table 7

Table 7: Ship’s Trajectory Planning Based on Improved Multiobjective Algorithm for Collision Avoidance 