Author(s)

J. Lisowski & R. Smierzchalski

Abstract

The paper presents methods of assigning and results of simulating safe manoeuvre and trajectory to avoid a collision at sea. The process of avoiding a collision has been resolved in three ways: with defined CTPA (Collision Threat Parameters) and indispensable manoeuvre, assigning trajectory with using TAM (Table of Admissible Manoeuvres) and the third as a non-linear programming task with the use of a maximum principle. The results have proved the ability to estimate an optimal and save manoeuvre, trajectory of the own ship to avoid a collision when meeting a number of moving targets. 1 Introduction At the time of development of anti-collision systems (ARPA) and their introduction on board of the merchant fleet a profound part of navigators' work connected with

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