Automatic Collision Avoidance With Multiple Targets, Including Maneuvering Ones

Abstract

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.

Models of Decision Making by a Navigator Under Implicit Agreements With Colreg Rules

“…For example, in the general concept of COLREG it is indicated that the differences of two vessels are considered. This feature is also described in the works of S. Zinchenko [6][7] (Fig. 1).…”

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“…The quality of products or services is largely determined by the effectiveness of the quality management system at the enterprise and the proper organization of the production process. The quality management system, built in accordance with the principles of overall quality management, involves continuous improvement of the marketing activities of the enterprise, improving the quality of products and ensuring of the needs of all interested parties, both customers and producers, through the establishment of appropriate management in the enterprise [25][26][27][28][29][30].…”

“…Furthermore, the analysis of experimental data is helpful enough with illustrating that more than 47 % of navigators get used to having the same sequence of actions/operations when performing typical maneuvers (i.e. mooring, diverging from the vessel and whatever) [28,29]. Although, despite mentioned above, the time intervals between the stages of actions (nodes of trajectories) as well as the total available energy ( ) E t are expressed in an individual capacity.…”

Perspectivas temporales en las actividades profesionales de especialistas en el área económica

“…La base metodológica de la investigación organizada en el contexto del establecimiento de perspectivas temporales en la actividad profesional de especialistas en la esfera económica es el complejo metodológico aprobado con el uso de los instrumentos de psicodiagnóstico (Blynova et al, 2020b;Fernández-Rivas y Espada-Mateos, 2019;Moya et al, 2018;Popovych et al, 2020a;Shevchenko et al, 2020). Esta metodología ha sido aprobada por investigadores en el estudio de los trastornos de adaptación, ansiedad, innovación (Acevedo-Duque et al, 2020;Halian et al, 2020a;Varguillas y Bravo, 2020), así como en el estudio de las expectativas mentales en diversas actividades de los encuestados (Cruz, 2019;Nosov et al, 2020a;Romero-Argueta et al, 2020;Tsiuniak et al, 2020;Zinchenko et al, 2019;. Todas estas mediciones experimentales y empíricas son relevantes para las perspectivas temporales en las actividades profesionales de los especialistas económicos.…”