Context. There is considered the task of automatic collision avoidance with multiple targets, including maneuvering ones. The object of the research is the process of automatic collision avoidance with multiple targets, including maneuvering ones. The subject of research is the method and algorithms that implement the process of automatic collision avoidance from multiple targets, including maneuvering ones. Objective. The purpose of the article is development a method and algorithms for automatic collision avoidance from multiple targets, including maneuvering ones, for the module of the onboard controller of the ship control system. Method. This goal is achieved by periodically measuring the true speed of the vessel and relative speeds of the vessel and targets, averaging the measured information to remove noise, estimating the true speeds of the targets, building, for the obtained estimates of the true speeds of the targets, areas of allowable collision avoidance controls with each targets by numerical iteration of the collision avoidance parameters (speed and course) at the nodes of a given grid in the area of their possible changes, determining the relative speeds at the nodes of the grid ship and target movement and checking that the relative speeds don't belong to sectors of dangerous courses, building a general area of acceptable collision avoidance controls with all targets by combining areas of allowable collision avoidance controls with each target, choosing collision avoidance parameters from the general area of acceptable collision avoidance controls according to specified criteria. This allows to diverge from multiple targets, including maneuvering ones, in a fully automatic mode. Changing the criteria for selecting discrepancy parameters leads to a change in the ship's behavior in case of discrepancy without changing the program code. Results. The developed method and algorithms are implemented in software and investigated by solving the problem of collision avoidance from multiple targets, including maneuvering ones, in a fully automatic mode in a closed circuit with the simulator Navi Trainer 5000 for various types of ships, targets, navigation areas and weather conditions. Conclusions. The experiments confirmed the performance of the proposed method and algorithms and allow to recommend them for practical use in the development of modules for automatic collision avoidance with multiple targets, including maneuvering ones, of the onboard controller of the ship control system.

One of the ways to reduce human influence on the control process is the development of automated and automatic control systems. Modern control systems are quite complex and require preliminary ground testing. The article considers the issues of creating Imitation Modelling Stand for such control system synthesis and testing. For this reason, a Control System Model was integrated into the local computer network of the navigation simulator NTPRO 5000. The authors of the paper developed and tested software for information exchange between the navigation simulator and the Control System Model. The authors also developed a functional module of collision avoidance with many targets for testing in a closed loop system with virtual training objects. The results showed that the developed Imitation Modelling Stand allowed developing and testing functional modules of the control systems. In comparison with the found analogues, it is easy to include in a closed simulation cycle various models of command devices, actuators, control objects, objects of training scene, weather conditions; it is universal both for solving problems of manual control and for developing and testing automatic and automated control systems; it is not highly specialised and is created at minimal costs.

Context. There were considered the issues of improving the accuracy and reliability of automatic vessel motion control systems in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. The object of research is the process of automatic vessel motion control in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. The subject of research is a method and algorithms for improving the accuracy and reliability of automatic vessel motion control systems in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. Objective. The aim of the research is development a method and algorithms for improving the accuracy and reliability of automatic vessel motion control systems in conditions of large deviations in sensors measurements during maneuvering and failures of sensors and actuators. Method. This goal is achieved by using in onboard controller of the automatic vessel motion control systems an observer to estimation the parameters of the state vector in the linear motion channel by measurements of linear speed and position sensors; estimation the parameters of the state vector in the angular motion channel by measurements of rotational speed and angular position sensors; continuous monitoring of the measured information by comparing it with the obtained estimations; correction estimations in the linear motion channel by measurements of linear speed and position sensors that have passed control; correction estimations in the angular motion channel by measurements of rotational speed and angular position sensors that have passed control; formation of a sensor failure in the linear motion channel (linear speed sensor or position sensor), if its measurements differ from the corresponding estimations for a greater than permissible value, to parry the failure in the linear motion channel by disconnecting the failed sensor from the observer and further estimation according to another sensor working in pairs; formation of a sensor failure in the angular motion channel (rotation speed sensor or angular position sensor), if its measurements differ from the corresponding estimations for a greater than permissible value, to parry the failure in the angular motion channel by disconnecting the failed sensor from the observer and further estimation according to another sensor working in pair; formation of an actuators failure in the linear motion channel (engine, automation or other device) if a simultaneous or sequential failure of both sensors were detected-linear speed sensor and position sensor, actuator failure alarm in the linear motion channel; formation of an actuators failure in the angular motion channel (rudders, drives, other devices) if a simultaneous or sequential failure of both sensors were detected-rotation speed sensor and angular position sensor, actuator failure alarm in the angular motion channel. This method and algorithms make it possible to i...

On the basis of empirical experimental data, relationships were identified indicating the influence of navigators' response to such vessel control indicators as maneuverability and safety. This formed a hypothesis about a non-random connection between the navigator's actions, response and parameters of maritime transport management. Within the framework of this hypothesis, logical-formal approaches were proposed that allow using server data of both maritime simulators and operating vessels in order to timely identify the occurrence of a critical situation with possible catastrophic consequences. A method for processing navigation data based on the analysis of temporal zones is proposed, which made it possible to prevent manifestations of reduced efficiency of maritime transport management by 22.5 %. Based on cluster analysis and automated neural networks, it was possible to identify temporary vessel control fragments and classify them by the level of danger. At the same time, the neural network test error was only 3.1 %, and the learning error was 3.8 %, which ensures the high quality of simulation results. The proposed approaches were tested using the Navi Trainer 5000 navigation simulator (Wärtsilä Corporation, Finland). The simulation of the system for identifying critical situations in maritime transport management made it possible to reduce the probability of catastrophic situations by 13.5 %. The use of automated artificial neural networks allowed defining critical situations in real time from the database of maritime transport management on the captain's bridge for an individual navigator.

Taking into account current trends in the development of ergatic maritime transport systems, the factors of the navigator’s influence on vessel control processes were determined. Within the framework of the research hypothesis, to improve navigation safety, it is necessary to apply predictive data mining models and automated vessel control. The paper proposes a diagram of the ergatic vessel control system and a model for identifying the influence of the navigator “human factor” during navigation. Within the framework of the model based on the principles of navigator decision trees, prediction by data mining means is applied, taking into account the identifiers of the occurrence of a critical situation. Based on the prediction results, a method for optimal vessel control in critical situations was developed, which is triggered at the nodes of the navigator decision tree, which reduces the likelihood of a critical impact on vessel control. The proposed approaches were tested in the research laboratory “Development of decision support systems, ergatic and automated vessel control systems”. The use of the Navi Trainer 5,000 navigation simulator (Wärtsilä Corporation, Finland) and simulation of the navigation safety control system for critical situations have confirmed its effectiveness. As a result of testing, it was determined that the activation of the system allowed reducing the likelihood of critical situations by 18–54 %. In 11 % of cases, the system switched the vessel control processes to automatic mode and, as a result, reduced the risk of emergencies. The use of automated data mining tools made it possible to neutralize the negative influence of the “human factor” of the navigator and to reduce the average maneuvering time during vessel navigation to 23 %