3.3. Ship domain analysis
3.3.1. Ship domain and collision risk
The concept of ship domain plays an essential role in navigational safety of vessels. A well known definition of ship domain by Goodwin (1975) is described as “the surrounding effective waters which the navigators of a ship want to keep clear of other ships or fixed objects”. Various geometrical ship domains with distinct shapes and sizes were proposed by researchers ( Fujii and Tanaka, 1971, Goodwin, 1975 and Davis et al., 1982). Fig. 3 illustrates the Fujii ship domain and Goodwin ship domain.