Risk-based and dynamic simulation of the marine operational field with the purpose of safe path planning for vessels

Generally, safety of vessels is more important than other problems as speed, energy consumption and cost. This paper proposes a new map called "Risk-Based Map (RBM)" that can be used to show the risk of all threats at any point in the operational field. This map can be used to ensure safety and to determine the optimal safe path for ships and any other system that works in a 2D space.
Also in this paper, a new method and criterion are introduced for assessing the total risk of some threats. This method is based on combining all threats together and replacing them with an event called "equivalent threat", and then assessing the “equivalent threat risk” instead of the total risk of all threats. Compared to the previously introduced criteria, the advantage of the proposed criterion for simultaneous evaluation of the total risk of some threats is that it can be used to ensure the safety and security of vessels. In the end, all suggested ideas have been implemented for a ship that is simultaneously exposed to several threats.