# Navigation of Autonomous Tug via Evolutionary Algorithms with Radar Plot Fitness Evaluation
## 5 Discussion
According to the proposal, one of the VDES mechanisms allows for the broadcasting of parameters of the intended passage route in advance, to allow other participants of maritime traffic to take this information into accountin their route planning At the same time, any similar information from other ships would allow for a more precise prediction of their future maneuvers, which would help the algorithm to determine a route that would not have to be modified in the future. A complete knowledge of the intentions of all users of the water area would enable a significant improvement in safety, and would provide the possibility of a global reduction in energy consumption by all participants. Even partial knowledge of the future routes of several participants in a given navigation situation may allow the route planning algorithm to propose a route that will be subject to at most minor changes. Finally, the proximity of other ships whose routes are known in advance may, for the reasons mentioned above, be subject to a more lenient assessment due to the criterion of the distance of closest approach. The proposed method of radar fitness assessment in the evolutionary algorithm is a promising solution to the problem of route planning for autonomous port tugs. In the case of electric-powered ships, it is also possible to introduce additional criteria related to the characteristic features of this drive, i.e., limited energy reserves, variable energy prices available on land, or the impact of the power level demanded from the propulsion system on its durability. For example, choosing a slightly longer route that does not require rapid acceleration will result in lower energy consumption and lower heat losses in the propulsion system battery, which will result in a lower maximum temperature and, to some extent, extend the total operating time of the energy storage. Supposing that as a result of the work of the evolutionary algorithm in a specific navigation situation, several equivalent solutions would appear, criteria such as those mentioned above could decide to the benefit of the shipowner, allowing the implementation of tasks in a way that would lower operational costs (OPEX). The main advantages of the described method are:  
* Generating routes requiring fewer, and less aggressive maneuvers,
* Increased safety margin with respect to obstacles, and
* Maintaining the optimal route length. Further work may focus on the following issues:
* Testing the algorithm in real conditions,
* Optimization of the radar method parameters,
* Consideration of additional criteria related to energy consumption, and
* Integration with other vessels' motion prediction systems, and with communication systems proposed within the e-navigation strategy [41] developed within the International Maritime Organization. Conceptualization, W.K. and A.L. ; methodology, W.K. and A.L. ; software, W.K. and A.L. ; writing--original draft preparation, W.K. and A.L. ; writing--review and editing, W.K. and A.L. ; supervision, A.L. All authors have read and agreed to the published version of the manuscript. This research was funded by the research project No. WE/2025/PZ/08, Electrical Engineering Faculty, Gdynia Maritime University, Poland. Not applicable. The raw data supporting the conclusions of this article will be made available by the authors on request. The authors declare no conflict of interest.