Морской государственный университет им. адм. Г.И. Невельского Владивосток, Россия Планирование маршрута перехода морского судна с учетом параметров волнения Статья посвящена проблеме обеспечения безопасного движения судов на морских акваториях. Особое место в рамках этой проблемы занимает задача планирования пути: траектории движения судна на локальной акватории и маршрута перехода от порта отправления к порту назначения. Целью планирования траектории судна на локальной акватории является обеспечение навигационной безопасности в условиях коллективного движения и географических особенностей акватории. Основная задача планирования маршрута перехода-оптимизация движения с различными критериями: кратчайший путь, кратчайшее время, минимальный расход топлива и т.п. В предлагаемой статье рассматривается задача планирования маршрута перехода с учётом опасности, которую представляет морское волнение при его воздействии на суда основных классов. В основу математической модели задачи положена интегральная оценка степени воздействия морского волнения на судно по пути следования судна к месту назначения. Ставится задача минимизации этого воздействия. При этом метрикой, характеризующей степень опасности морского волнения, выступают известные отраслевые представления, описываемые диаграммой штормования судна на попутном волнении.

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The work is devoted to the problem of ensuring the safe movement of vessels in maritime waters. A special place within the framework of this problem is occupied by the task of planning the shipping route: the trajectory of the vessel’s movement in the local sea waters area and shipping route from the port of sailing out to the port of destination. The purpose of planning the vessel’s trajectory in the local sea waters area is to ensure navigation safety in the conditions of collective movement and geographical features of the waters area. In the present work the task of controlling the vessel when she is proceeding by the program trajectory is considered. The article notes that the inaccuracy of a preconceived ideas about the model of vessel movement can significantly affect the behavior of the vessel in the control processing, accuracy of control may become insufficient in circumstances of high traffic intensity, which can lead to dangerous approach of vessels. To solve this problem, it is proposed to include in the ship’s control system the PID - regulator operating on a deviation from the course, integral from this deviation and its derivative, and also, the function of identifying the model of motion of an object by the method of speed gradient, realizing a closed system. As a model of the vessel’s movement adopted well known model Nomoto of second order. The article is accompanied by the results of modeling the proposed ship control system. It is shown that it is able to operates within a single process in real time and respond adequately to changes of motion model parameters.

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The problem of marine traffic safety is discussed in this paper. The problem of ships path planning taking into account heavy weather conditions (sea waves) along the route is considered. As a metric characterizing the safety of traffic, a well-known storm diagram of ships at a passing wave is used. According to it, the level of danger is determined from the data on height and wavelength. The route is formed as a result of solving the problem of finding the shortest path on a weighed graph. As a source of meteorological data, satellite monitoring information is used. It is shown that in spite of the roughness of the initial data, they are able to give a practical solution for choosing the trajectory of the vessel’s motion. The work is accompanied by the results of full-scale experiments. The results of the assessment of the vessels safety and path planning in the waters of the Sea of Japan are presented.