Sokolenko V. Improvement of methods of planning the way and managing the ship in compressed waters.

As a result of the research carried out, the scientific direction of creating innovative ways and methods of high-precision path planning and control of the regime of vessel traffic in cramped waters has been further developed, and as a result, their economic, operational and environmental performance has increased. The analysis and clarification of the terminological concepts of the science section, the subject of research of which is the safety of navigation, made it possible to isolate the constrained waters by the main region in which emergency events occur. When developing a technological map for scientific research, a systematic approach was used in which, to solve the main problem, it was divided into auxiliary problems, the results of which are used in the synthesis of the system for planning and controlling the motion in compressed water. Features of the choice of the mode of motion are described by five models: calculation of safe speed for the range of confident detection of fixed danger; calculation of safe speed for the range of confident detection of a moving object; describes the movement of the vessel on rectilinear sections of the track; The movement on canals and fairways is described: for the first time a method has been developed for preventing landing of a vessel on a strand. For the first time, a synthesis of a high-precision system for planning a given path of trajectory points and safe control of ship movement in hazardous areas of limited waters was developed, for the first time a method was developed for the preparation of a ships plan for pilotage, which, unlike the pilot plan, is suitable for navigational purposes. To achieve the research goal, algorithms, calculation schemes and computer programs for high-precision planning of rectilinear and curvilinear sections of the track, selection of a safe driving regime and its control along a given trajectory were developed. A layout of the navigation device for planning the transition from the pilot landing point to the point of reception at the port of arrival has been created. As a result of the research it was established that a high-precision calculation of the coordinates of the given path by trajectory points and the use of navigation devices that increase the accuracy of determination and the effectiveness of the lateral deviation control significantly reduces the risk of an emergency navigational event in limited waters. The results can be used on vessels with automatic transfer planning and when creating a simulator when preparing skippers to perform highly accurate path planning in hazardous areas of limited waters. They can be introduced in maritime training institutions for the training of cadets of senior courses for work on ships, for advanced training courses and for carrying out theoretical studies. Key words: safe speed; curvilinear motion; fairway and canal; dangerous areas of cramped waters; high-precision path planning by trajectory points; ship's navigational plan for pilotage; decision support device.