Bayesian Network based sequential collision avoidance action execution for an Ocean Navigational System

This paper focuses on a study of the sequential action execution module for a collision avoidance system in ocean navigation. The overall decision-action process of collision avoidance consists on a Fuzzy logic based parallel decision making module and those decisions are formulated into collision avoidance actions by a Bayesian network based sequential action execution module. The presented collision avoidance system is capable of making multiple sequential actions to avoid complicated collision situations involving multiple vessels in ocean navigation while still respecting the COLREGs rules and regulations.