Dynamic Games Methods in Synthesis of Safe Ship Control Algorithms

The paper presents application of dynamic games methods, multistage positional and multistep matrix games, to automate the process control of moving objects, on the example of safe control of own ship in collision situations when passing many ships encountered. Taking into consideration two types of ships cooperation, for each of the two types of games, positional and matrix, four control algorithms for determining a safe ship trajectory supporting the navigator’s maneuvering decision in a collision situation are presented. The considerations are illustrated by examples of computer simulation in Matlab/Simulink software of safe trajectories of a ship in a real situation at sea. Taking into account the smallest final deviation game trajectory from the reference trajectory of movement, in good visibility at sea, the best is trajectory for cooperative matrix game, but in restricted visibility at sea, the best is trajectory for cooperative positional game

Computational intelligence in marine control engineering education

This paper presents a new approach to the existing training of marine control engineering professionals using artificial intelligence. We use optimisation strategies, neural networks and game theory to support optimal, safe ship control by applying the latest scientific achievements to the current process of educating students as future marine officers. Recent advancements in shipbuilding, equipment for robotised ships, the high quality of shipboard game plans, the cost of overhauling, dependability, the fixing of the shipboard equipment and the requesting of the safe shipping and environmental protection, requires constant information on recent equipment and programming for computational intelligence by marine officers. We carry out an analysis to determine which methods of artificial intelligence can allow us to eliminate human subjectivity and uncertainty from real navigational situations involving manoeuvring decisions made by marine officers. Trainees learn by using computer simulation methods to calculate the optimal safe traverse of the ship in the event of a possible collision with other ships, which are mapped using neural networks that take into consideration the subjectivity of the navigator. The game-optimal safe trajectory for the ship also considers the uncertainty in the navigational situation, which is measured in terms of the risk of collision. The use of artificial intelligence methods in the final stage of training on ship automation can improve the practical education of marine officers and allow for safer and more effective ship operation

Artificial Intelligence Methods in Safe Ship Control Based on Marine Environment Remote Sensing

This article presents a combination of remote sensing, an artificial neural network, and game theory to synthesize a system for safe ship traffic management at sea. Serial data transmission from the ARPA anti-collision radar system are used to enable computer support of the navigator’s maneuvering decisions in situations where a large number of ships must be passed. The following methods were used to determine the safe and optimal trajectory of one’s own ship: static optimization, dynamic programming with neural constraints on the state of the control process in the form of domains of encountered ships generated by a three-layer artificial neural network, and positional and matrix games. Then, computer calculations for the safe trajectory of one’s own ship were carried out using the presented algorithms. The calculations were carried out for an actual navigational situation recorded on a r/v HORYZONT II research/training vessel radar screen under a real navigational situation in the Skagerrak–Kattegat Straits

Sensitivity of Safe Trajectory in a Game Environment on Inaccuracy of Radar Data in Autonomous Navigation

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

Multistage Dynamic Optimization with Different Forms of Neural-State Constraints to Avoid Many Object Collisions Based on Radar Remote Sensing

This article presents the possibility of helping navigators direct the movement of an object, while safely passing through other objects, using an artificial neural network and optimization methods. It has been shown that the best trajectory of an object in terms of optimality and security, from among many possible options, can be determined by the method of dynamic programming with the simultaneous use of an artificial neural network, by depicting the encountered objects as moving in forbidden domains. Analytical considerations are illustrated with examples of simulation studies of the developed calculation program on real navigational situations at sea. This research took into account both the number of objects encountered and the different shapes of domains assigned to the objects encountered. Finally, the optimal value of the safe object trajectory time was compared on the setpoint value of the safe passing distance of objects in given visibility conditions at sea, and the degree of discretization of calculations was determined by the density of the location of nodes along the route of objects

Comparison of Dynamic Games in Application to Safe Ship Control

The paper introduces methods of dynamic games for automation of ship control in the collision situation, the game control processes in marine navigation and the fundamental mathematical model of the game ship control. First, state equations, control and state constraints and then control goal function in the form of payments: the integral payment and the final one, have been defined. Multi-stage positional, and multi-step matrix, non-cooperative and cooperative, game and optimum control algorithms for a collision situation, have been presented. Te considerations have been illustrated with an exemplary computer simulation of algorithms to determine a safe own ship's trajectory in the process of passing the ships encountered in Kattegat Strait