Study on the algorithm of collision avoidance for large container in shallow confined waterway

The manoeuvrability of a large container vessel of 9,000 TEU is estimated in the condition of deep sea through Free-running test. In shallow water in which minimum H(depth)/d(draft) is 1.2, the manoeuvrability of 9,000TEU container vessel is estimated by using the Kijima's practical prediction method. For safe navigation, an algorithm of collision avoidance is developed by using fuzzy algorithm and the concept of Changeable Action Space (CAS). To take the consideration of constraints of fairway, Virtual Searching Antenna (VSA) is newly-designed to control searching range. In order to test the performance of a newly-designed algorithm of collision avoidance, numerical simulations are carried out on the shallow confined waterway of Gwang-yang in Korea. In this paper, the procedure and results of simulation for validation are introduced on the scenarios of traffic problems such as passage share and passage crossing.