Experimental Validation of Optimal Message Limits in Distributed Local Search for Ship Collision Avoidance

This study introduces a method for determining the optimal number of information exchange messages in the distributed local search algorithm for ship collision avoidance. The cost of determining the movement of a ship is modeled as the sum of the collision risk between ships and the cost of reaching the destination. This total cost is then used to establish the maximum allowable cost, which defines the upper limit of the message exchanges. Experiments were conducted with varying numbers of ships, ranging from two to 20, to analyze the changes in the maximum cost and corresponding number of message exchanges. In all cases, the number of message exchanges was capped at five. Experimental validation using automatic identification system data demonstrated that an upper limit of 25 message exchanges was sufficient to ensure collision-free navigation for five ships, whereas an upper limit of 50 exchanges effectively handled scenarios involving 10 ships.