A Decision-Making Method for Ship Collision Avoidance Based on Improved Cultural Particle Swarm

Algorithm 1

Ship trajectory prediction algorithm based on Kalman filter.

	Input: trajectory dynamic AIS dataset of moving ships
	Output: mean value of ship trajectory error RMSE
(1)	D = trajectPretreatment (T)
(2)	initParameters ()
(3)	state = getCurrentState (D)
(4)	for i = 1 to k:
(5)	p = KalmanPredict (D)
(6)	e[i] = getRMSE (p, p’)
(7)	end for
(8)
(9)	Output RMSE