Планирование безопасных маршрутов безэкипажных судов на основе методов искусственного интеллекта

Abstract

The article considers the problem of improving safety and efficiency of navigation of unmanned vessels. In the unmanned navigation, one of the most important tasks is planning a safe route, which consists in determining the shortest path in the shortest possible time and describing the motion of a marine vessel. The object of this study is the safe route of an unmanned vessel. There is given a review of the research literature on solving the problem of planning the route of sea and river mobile objects. The subject of the study is intelligent decision-making methods for safe route planning for unmanned navigation. The purpose of this article is to improve the safety of unmanned navigation by optimizing the route in the presence of one or more obstacles in the area of movement of an unmanned vessel that have 
 a negative impact on the trajectory of movement. To achieve this goal, the task of local route planning was set and solved by the method of intelligent decision-making based on Biologically Inspired Neural Network (BINN). Methods of artificial intelligence and mathematical modeling were used to solve the problem. The results of the proposed method for solving the problem of planning a local route for an unmanned vessel confirm its ability of the vessel to avoid the local minima points. The simulation results show that the planned local route for unmanned navigation allows solving the problem of avoiding collisions with obstacles in real time, where the obstacles have only local effects. As part of further research, the described method is planned to be used for developing an information decision-making system for a movement control of an unmanned vessel.