Cost function for ship collision avoidance in distributed system

The cost function is proposed to prevent collision between ships in distributed system. It satisfies various requirements of ships, i.e., safety (collision risk) and efficiency (sailing distance) by adjusting the parameters, such as safety domain or detection range. Moreover, the effect of the parameters which give an influence on ship collision is analyzed. By optimizing the values of the parameters, a ship enables the cost to be minimized. We empirically show the proposed cost function demonstrate the practicality in distributed systems. The relationship between the cost function and the parameter is indicated. When the size of time window and detection range increase twice, the costs are decreased by 13 and 28%, respectively. We also point out that any collision accident does not happen through all experiments which are all possible combinations of the parameters and the weight factors.