A Decision Support Framework for Collision Avoidance of Unmanned Maritime Vehicles - Intelligent Computing for Sustainable Energy and Environment - page 555

Fig. 3. A snapshot of the virtual map showing the recommend action for the pan and tilt subsystem
vessel manoeuvres. In the figure, the grey box indicates own ship's position. There
are two additional icons showing a ship and a query box. The ship icon represents the
actual location of a ship whilst being observed. On the other hand, the query box is
the estimated position of the second ship which cannot be seen because of its
existence in the non-active scanning region. This means that the proposed system
Fig. 4. A snapshot of the virtual map showing the recommended action for the ship control
subsystem
always keeps track of any previously detected obstacles and predict their positions
even if they are not visible directly by the camera. In addition to the scanning, the risk
assessment unit of the proposed system guides the scanner to further investigate a