The application of fuzzy logic is an effective approach to a variety of circumstances, including solutions to maritime anti-collision problems. The article presents an upgrade of the radar navigation system, in particular, its collision avoidance planning tool, using a decision model that combines dynamic parameters into one decision—the collision avoidance course. In this paper, a multi-parametric decision model based on fuzzy logic is proposed. The model calculates course alteration in a collision avoidance situation. First, the model collects input data of the target vessel and assesses the collision risk. Using time delay, four parameters are calculated for further processing as input variables for a fuzzy inference system. Then, the fuzzy logic method is used to calculate the course alteration, which considers the vessel’s safety domain and International Regulations for Preventing Collisions at Sea (COLREGs). The special feature of the decision model is its tuning with the results of the database of correct solutions obtained with the manual radar plotting method. The validation was carried out with six selected cases simulating encounters with the target vessel in the open sea from different angles and at any visibility. The results of the case studies have shown that the decision model computes well in situations where the own vessel is in a give-way position. In addition, the model provides good results in situations when the target vessel violates COLREG rules. The collision avoidance planning tool can be automated and serve as a basis for further implementation of a model that considers the manoeuvrability of the vessels, weather conditions, and multi-vessel encounter situations.

中文翻译：

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船舶多参数防撞决策模型：模糊方法

模糊逻辑的应用是在各种情况下的有效方法，包括解决海上防撞问题。本文介绍了一种雷达导航系统的升级版，尤其是其防撞计划工具，它使用了将动态参数组合为一个决策的决策模型，即防撞过程。提出了一种基于模糊逻辑的多参数决策模型。该模型计算在避免碰撞情况下的航向变化。首先，模型收集目标船只的输入数据并评估碰撞风险。使用时间延迟，可以计算出四个参数作为模糊推理系统的输入变量进行进一步处理。然后，使用模糊逻辑方法来计算路线变化，其中考虑了船舶的安全领域和《国际海上避碰规则》（COLREGs）。决策模型的特殊之处在于它可以通过手动雷达标绘方法对正确解的数据库结果进行调整。验证是通过选择的六个案例进行的，这些案例从不同角度和任何可见度模拟了公海中目标船的遭遇。案例研究的结果表明，在本船处于放行位置的情况下，决策模型可以很好地进行计算。此外，该模型在目标船违反COLREG规则的情况下也能提供良好的结果。防撞计划工具可以实现自动化，并作为进一步实施考虑船只可操纵性的模型的基础，