2. Contents
ï Problem statement
ï Proposed System
ï Introduction and Background study
â« Calculation of DCPA
â« Calculation of TCPA
â« Calculation of VCD
ï Multi-vessel collision risk calculation
â« Fuzzy inference system
â« Utilization of Fuzzy Inference for collision risk calculation
ï Application
â« Simulator Development
â« Techniques , tools
ï Results
ï Future Work
3. Problem Statement
â« Due to brisk industrial growth, the marine traffic
has become an imperative subject in the open sea.
â« The crew inside the vehicle traffic service (VTS)
centre is facing challenging issues due to
continuous growth in vessels number.
â« Most of VTS centers are using the ARPA RADAR
based conventional vehicle traffic management
system.
â« VTS staff has to carry out most of things
manually.
â« Strong need to develop RADAR operated, multi-
vessel collision detection system.
4. Proposed System (Salient Features)
â« Fuzzy inference based intelligent collision
detection system.
â« Using the DCPA, TCPA and VCD to calculate
collision risk.
â« Development of multi-vessel graphical simulator
ï can calculate degree of collision risk among vessels
from VTS centre.
ï has RADAR filtration algorithm.
ï Flexible development approach based on MFC,
VC++ and openGL
6. Calculation of DCPA
âąDCPA is considered the closet point of approach between the two vessels.
âąThe blue line in the following figure is displaying the DCPA between A & B.
Projection Vectors
Resultant Vector
7. Mathematical Calculation of DCPA
0°< Ξ < 90° Then m = tan (90°- Ξ) (1)
90°< Ξ < 180° Then m = -tan(Ξ - 90°) (2)
180°< Ξ < 270° Then m = tan(270°- Ξ) (3)
270°< Ξ < 360° Then m = -tan(Ξ - 270°) (4)
Where Ξ is the angle between the vessels, calculated from VTS centre
and x, y ,m are the coordinates and the slope respectively.
mx - y - mtx + ty = 0 (5)
2)1(2m
ytmxt
DCPA
(6)
8. ï±Suppose âVâ is the vessel and âIâ denotes the number
of vessels which comes in the range of RADAR.
ï±If the total number of vessel in particular scenario
n=6. Then, mathematically we can calculate,
for how many times, we have to calculate the
DCPA using the following calculation.
=
Ship 1 case: 1 2, 1 3, 1 4, 1 5, 1 6
Ship 2 case: 2 3, 2 4, 2 5, 2 6
. . . . . .
. . . . . .
Calculation of DCPA among vessel from VTS
10. Calculation of VCD
âą VCD is the variance of a compass direction which can be
measured with the difference of two consecutive bearing.
Calculation of VCD among vessel from VTS centre
11. Calculation of VCD
âą For the calculation of VCD, first we have to calculate the
bearings among all the vessels from VTS centre using RADAR
input.
13. Calculation of degree of collision risk
ï Input arrays to calculate the degree of collision risk among vessels
from VTS centre
14. Calculation of degree of collision risk
âą To calculate the degree of collision risk. We used fuzzy inference system.
ï±Fuzzy Inference System
Fuzzy inference is the process of formulating the mapping from a given input to an
output using fuzzy logic.
ï±Fuzzy Logic
Fuzzy logic is based on fuzzy set theory which is introduced by Lotfi A. Zadeh and
Dieter Klauain 1965
ï±Fuzzy set theory
ïŒFuzzy sets are sets whose elements have degrees of membership.
ïŒan extension of the classical notion of set.
ïŒIn classical set theory, the membership of elements in a set is assessed in binary terms.
ïŒBy contrast, fuzzy set theory permits the gradual assessment of the membership of
elements in a set
ïŒfuzzy set theory can be used in a wide range of domains in which information is
incomplete or imprecise.
15. Simulation and scenario
To validate the accuracy of our algorithm. We developed a
simulator.
In simulation we took 11 vessels
ïŒEach vessel is considered as an autonomous object which
means; each have its own
ï§ Position (x,y)
ï§ Speed (we can derive velocity from speed)
ï§ Angle (course)
ï§ DCPA (can be measured from VTS)
ï§ TCPA (can be measured from VTS )
ïŒWe supposed in our scenario that ships are moving randomly.
23. âą VCDê° PMìŒ ë ì¶ëĄ ê·ìč
âą VCDê° PMBìŒ ë ì¶ëĄ ê·ìč
23
NB NM NS PS PMS PM PMB PB
PS NB NB NB PM PM PMS PMS PS
PMD NM NB NB PMB PMS PMS PS PS
PMD NS NM NB PM PMS PS PS PS
PMB NS NS NM PMS PS PS PS PS
PB NS NS NS PS PS PS PS PS
D
C
P
A
T C P A
NB NM NS PS PMS PM PMB PB
PS NB NB NB PM PMS PMS PMS PS
PMD NB NB NB PMS PMS PMS PS PS
PMD NM NB NB PMS PMS PS PS PS
PMB NS NM NB PMS PS PS PS PS
PB NS NS NM PS PS PS PS PS
D
C
P
A
T C P A
28. Radar Filtration
ï±The simulation area shows the results after 1800 milli-
second delay. (It can be decreased by using multi-core processor)
ï±The filtration module filters the vessel which come in
5 NM radius of selected vessel.
ï±This module create easiness to filter the degree of
collision risk around specific vessel.
29. Radar Filtration
This area display the vessel
which come in radar range.
Degree of collision around a
specific vessel.