A ship navigation assisting device includes: an area setter 304 that sets, for a target ship, a polygonal safe navigation area defined by a plurality of vertices and surrounding the target ship; a collision point calculator 305 that calculates, based on a speed of the own ship, a relative position between the own ship and the target ship, and a velocity vector of the target ship, collision points between each of the plurality of vertices constituting the safe navigation area and the own ship; and a collision danger area calculator 306 that connects the plurality of collision points calculated by the collision point calculator 305 to calculate a collision danger area.

A ship navigation assisting device includes: an area setter 304 that sets, for a target ship, a polygonal safe navigation area defined by a plurality of vertices and surrounding the target ship; a collision point calculator 305 that calculates, based on a speed of the own ship, a relative position between the own ship and the target ship, and a velocity vector of the target ship, collision points between each of the plurality of vertices constituting the safe navigation area and the own ship; and a collision danger area calculator 306 that connects the plurality of collision points calculated by the collision point calculator 305 to calculate a collision danger area.

A sensor that detects a shape of a surrounding environment of a boat and a positional relationship between the surrounding environment and the boat body outputs environment information indicating the shape of the surrounding environment and the positional relationship. A display displays an environment map indicating the surrounding environment. An input accepts an input of a shore arrival target position of the boat body on the environment map and outputs target position information indicating the shore arrival target position. A controller receives the environment information and the target position information, determines a possible shore arrival space of the boat body in the surrounding environment based on the environment information, and corrects the shore arrival target position based on the possible shore arrival space. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the shore at the corrected shore arrival target position.

A sensor that detects a shape of a surrounding environment of a boat and a positional relationship between the surrounding environment and the boat body outputs environment information indicating the shape of the surrounding environment and the positional relationship. A display displays an environment map indicating the surrounding environment. An input accepts an input of a shore arrival target position of the boat body on the environment map and outputs target position information indicating the shore arrival target position. A controller receives the environment information and the target position information, determines a possible shore arrival space of the boat body in the surrounding environment based on the environment information, and corrects the shore arrival target position based on the possible shore arrival space. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the shore at the corrected shore arrival target position.

The presently disclosed technology discloses an unmanned aerial vehicle control method and apparatus. A device displays a map. The device detects a first movement path on a touch-sensitive surface of the device. The device overlays a trajectory on the map in accordance with the first movement path. The device automatically generates a number of waypoints along the trajectory. and the device displays the waypoints on the trajectory and sends instructions to an unmanned vehicle in accordance with the trajectory and the waypoints. The unmanned vehicle moves in accordance with trajectory by executing the instructions.

The presently disclosed technology discloses an unmanned aerial vehicle control method and apparatus. A device displays a map. The device detects a first movement path on a touch-sensitive surface of the device. The device overlays a trajectory on the map in accordance with the first movement path. The device automatically generates a number of waypoints along the trajectory. and the device displays the waypoints on the trajectory and sends instructions to an unmanned vehicle in accordance with the trajectory and the waypoints. The unmanned vehicle moves in accordance with trajectory by executing the instructions.

A navigation system includes a sensing device and an environment map creator. The sensing device generates environment information which indicates a shape of a shore arrival location. The environment map creator creates an environment map which indicates the shape of the shore arrival location based on the environment information.

Apparatuses and methods are disclosed for path planning. An apparatus comprising a data processor can be configured to determine an initial path past an obstacle between a first point and a second point. The initial path comprises at least two turn points between the first point and the second point. It can then be determined whether a line between two of the points and bypassing at least one of the turn points intersects the obstacle. A straightened path of travel can be determined in response to determination that the line between two of the points and bypassing the at least one of the turn points does not intersect the obstacle by removing the at least one bypassed turn point from the initial path.

Apparatuses and methods are disclosed for path planning. An apparatus comprising a data processor can be configured to determine an initial path past an obstacle between a first point and a second point. The initial path comprises at least two turn points between the first point and the second point. It can then be determined whether a line between two of the points and bypassing at least one of the turn points intersects the obstacle. A straightened path of travel can be determined in response to determination that the line between two of the points and bypassing the at least one of the turn points does not intersect the obstacle by removing the at least one bypassed turn point from the initial path.

This invention relates to a positioning system and a method for navigation, in particular but not exclusively to a positioning system and a method for maritime navigation. A positioning system and method for navigation comprising a reference unit positioned on a vehicle, and a portable optical device, in communication with the reference unit, comprising sensing means to measure bearings to observed target points relative to the vehicle heading to thereby determine a position of the vehicle.