HET bayes RHR EE ADA EB I it BY ee FB CE OR A ee, EME 200135) me BE ie HEA A TA TAR ES, AER AT A NL I a TH S10) ROCA, LUCA Tee BRI, Ca Ee AR SL LOE, He A UG eT a eR EI, FE A a BRE, TCC CVC Ha TE, LIL I, ee SEU AUEITIE tayo BUM RUFRULIT eH Ship Trajectory Generation for Collision Avoidance Using Bayesian Genetic Algorithm Ying Shijun, Shi Chaojian, Yang Shenghua (Merchant Marine College, Shanghai Maritime University, Shanghai 200135) Abstract: Maritime accidents frequently occurred because of human errors. It is important to generate safe tra- jectories automatically in collision situations. Genetic Algorithm is a new method for this purpose. However, the International Regulations for Preventing Collision at Sea has not been taken into ac- count in previous researches. In this paper, Bayesian model is employed to calculate the post probabil- ity of each trajectory according to the rules and general practice of seaman. The fitness function is formed with trajectory cost and information entropy. Experiments illustrate that evasion routes gener ated by Bayesian genetic algorithm are more rational than that of pure GA, considering the rules for Preventing collision and general practice of seaman. Keywords: genetic algorithm; bayesian model; route designings information entropy oa ROUT TAPER TER Ah RAB U. RRL " ASH Jk 22 SBE RS CCA). lA AB Bs i it 2 WES A, MAMMA RT HR BAHOAETH CTCPA). HEAD DCPA, TCPA # SEEING. MAR AHL, A GRA Rh Se SRE (MINCPA) $18 258 Ht © ER, (1966), IHN emis sping@rmrc. shy. ca. AME CPU, ACEC, MMR A, IN eR PR MIE,+912 + FRRARNPER A (MINTCPA) He, tf 29 5 Ef RE Ti, MEARE AE ARE SRE. RELL, ORE, (RE AW BE 7~ 9. AD, Fre 1% (IMO) eM dE AB. BRA Ze ARPA PARR, ARPA SBE 22 AG AE A SEA 7 a Ki. 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