Planning Emergency Manoeuvres

The paper addresses the issue of planning emergency manoeuvres and re-planning ship trajectories in case of unpredicted target behaviour. It introduces two methods. The first is responsible for monitoring other ships parameters, estimating the probability of illegal target behaviour and re-planning own trajectory in case of unpredicted events. The second is a visualization tool that enables the navigator to assess collision risk in an encounter situation and choose a collision avoidance manoeuvre if necessary. This tool is based on the Collision Threat Parameters Area display and offers new features: fuzzy sectors of forbidden speed and course values and the possibility to use any given ship domain. Both methods are fast enough to be applied in the real-time decision.-support system.