Resumen
This study aimed to present the criteria for the collision avoidance of maritime autonomous surface ships (MASS) in restricted areas. The criteria were presented via ship domains, and a seafarers? awareness-based ship domain (SASD) that dynamically changes the existing SASD according to the external environment was used to develop a new domain model. For application, we have converged an adaptive neuro-fuzzy inference system with the existing model. The proposed SASD was applied to an actual marine restricted area and compared with automatic identification system (AIS) based ship domain models. Consequently, although there was a slight difference depending on the restricted area and domain design method applied, the SASD, (i.e., the minor axis of the elliptical domain) and the AIS-based ship domain were similar. Cross-validation of the seafarers? awareness-based ship domain and the AIS-based ship domain could propose a reference lateral side passing distance for MASS in restricted areas. However, the major axis of the ellipse should be further studied since the domain design method differs between models.