1. School of Navigation and Shipping, Shandong Jiaotong University, 1508 Hexing Road, Huancui District, Weihai 264209, China
2. Shandong Intelligent Transportation Key Laboratory of Shandong Jiaotong University, 5001 Haitang Road, Changqing University Science Park, Jinan 250357, China
3. Department of Maritime Transportation, Mokpo National Maritime University, 91 Haeyangdaehang-ro, Mokpo City 58628, Republic of Korea