Abstract: Based on rapidly-exploring random tree (RRT) algorithm, a deliberative trajectory planner DTP was developed to search for global trajectory between the adjacent waypoints of the long voyage. The static obstacle constraints, ship maneuvering constraints, and trajectory optimality requirements are satisfied simultaneously to ensure the feasibility, completeness and optimality in planning. Through simulations and on-water tests of a trimaran model, the proposed DTP method was demonstrated to be effective, superior and stable for the autonomous collision avoidance. The present work provides an important basis for subsequent research and future application.

Key words: shipborne autonomous collision avoidance system; deliberative trajectory planner; maneuvering constraint; trajectory optimality