Abstract
This article provides an analysis of the autonomous navigation of marine objects, such as ships, offshore vessels and unmanned vehicles, and an analysis of the accuracy of safe control in game conditions for the cooperation of objects during maneuvering decisions. A method for determining safe object strategies based on a cooperative multi-person positional modeling game is presented. The method was used to formulate a measure of the sensitivity of safe control in the form of a relative change in the payment of the final game; to determine the final deviation of the safe trajectory from the set trajectory of the autonomous vehicle movement; and to calculate the accuracy of information in terms of evaluating the state of the control process. The sensitivity of safe control was considered in terms of both the degree of the inaccuracy of radar information and changes in the kinematics and dynamics of the object itself. As a result of the simulation studies of the positional game algorithm, which used an example of a real situation at sea of passing one's own object with nine other encountered objects, the sensitivity characteristics of safe trajectories under conditions of both good and restricted visibility at sea are presented.
Highlights
The subject of this article directly concerns sensors, which are the basic part of vessel detection and navigation in the process of ensuring safe control of marine objects
We take into account the subjectivity of the navigator in the assessment of the situation as well as the kinematics and dynamics of the objects encountered [10]
Optimization Toolbox software, a cooperative multi-stage Positional Game (PG) algorithm was developed to determine the safe trajectory of the own object
Summary
The subject of this article directly concerns sensors, which are the basic part of vessel detection and navigation in the process of ensuring safe control of marine objects. The safe trajectory of the own object can be distinguished important purpose of the control process is to determine a certain sequence of in deterministic terms considering thethe maneuvering other encountered. Ds process of the passing game model of distance the control [24,25].objects, which was subjectively determined by the navigator in theThe current navigational situation, is important for which safe navigation. This value depends by on the safety distance Ds of the passing objects, was subjectively determined the current state of visibility at sea, which is classified by the international rules for preventing collisions navigator in the current navigational situation, is important for safe navigation This value depends of at sea (COLREGs) as either goodwhich or restricted visibility at sea. Games under thethe conditions of good at sea.of the quality of security checks and aim of this studyand is tolimited assess visibility the sensitivity games under the conditions of good and limited visibility at sea
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