W is the dimension of the working window (Figure 6).
The number n of iterations and the weights K, and K2
are initially set to n = 10 and K1 = K2 = 0.5 respectively.
If AL(~) < 0 or AR(~) < 0, then Area(d) is forced
to 0 because only local maxima of the centroidal map
should be considered. It should be noted from equation
(2) that the term Klp(d)/p,,x enhances points distant
from the ship’s centroid and that the term
K2 Area(d)/AreaM*x enhances local maxima with high
values for both AL(~) and AR(G), which are sharp and
symmetric peaks of the centroidal map.