Abstract
Marine navigation consists in continuous observation of the situation at sea, determinationthe anti-collision manoeuvre. So it necessary to determine ship safe trajectory as a sequenceof ship course changing manoeuvres. Each manoeuvre is undertaken on the basis ofinformation obtained from the anti-collision system ARPA. This paper describes a methodof safe ship control in the collision situation in a fuzzy environment based on a branchand bound method and a genetic algorithm. The optimal safe ship trajectory in a collisionsituation is presented as multistage decision-making process