Collision avoidance during a two-ship encounter in the open sea is treated as a problem of optimal control using the theory of differential games. Each ship is assumed to have two controls corresponding to rudder angle and engine setting. Different versions of the game are obtained. Optimal evasive maneuvers and limiting conditions for ship encounters beyond which collision becomes unavoidable are determined analytically. Numerical examples are given for encounters between two ships, one of which has a higher speed and the other a smaller turning radius. Results are presented in a graphical form suitable for display on a radar screen.
|Number of pages||20|
|State||Published - 1977|