The role of computer aids in collision avoidance is continuously increasing. The majority of onboard ARPA (Automatic Radar Plotting Aids) systems offer the function of manual or automatic determining of the collision avoidance manoeuvre. Furthermore, according to the legally binding international regulations it is now obligatory to install the onboard AIS (Automatic Identification Systems) systems capable of delivering more precise data on targets. Another key element in improving the ship safety is VTS (Vessel Traffic Services) systems , which determine safe ship trajectories on restricted waters. Their assistance is vital for ships approaching harbours, traversing channels or going sea.

Table of Contents

1. SHIP DOMAIN MODELS

2. CONTEMPORARY METHODS AND ALGORITHMS OF COLLISION AVOIDANCE

3. THE PROPOSED METHOD OF SHIP TRAJECTORY PLANNING ON RASTER GRIDS

4. A UNIFIED MEASURE OF COLLISION RISK DERIVED FROM THE CONCEPT OF A SHIP DOMAIN

5. A METHOD OF PLANNING A SAFE TRAJECTORY FOR A SINGLE TARGET ENCOUNTER SITUATION

6. PLANNING A SAFE TRAJECTORY FOR A MULTI TARGET ENCOUNTER

7. METHOD’S EXTENSIONS

8. THE SIMULATION EXPERIMENTS

9. SUMMARY