Mamenko P. Methods of automating processes of route planning and optimal vessels divergence in conditions of uncertainty

Dissertation for obtaining the scientific degree of Doctor of Philosophy in specialty 151 - Automation and computer-integrated technologies. – Kherson State Maritime Academy of the Ministry of Education and Science of Ukraine, Kherson, 2023. The object of the research is the process of automatic planning of the route of the ship's and the optimal divergence of ships when sailing along the route in conditions of uncertainty of external and internal factors, and the subject of the research are the principles, methods and models of automatic planning of the route of the ship's and optimal divergence with the vessels and targets during the sailing of the ship along the route in conditions of uncertainty of external and internal factors. The scientific significance of the results of the dissertation research consists in: the use of the risk field to solve the tasks of automatic route planning and optimal divergence with ships and targets; development of principles, methods and means of automatic route planning; solving the task of optimizing the divergence trajectory, provided that the given risk is not exceeded; taking into account the interests of all participants in the divergence operation, due to the use of a systematic approach, analysis and synthesis, methods and tools of design, modeling and optimization. The practical significance of the obtained results lies in the possibility of creating, on the basis of the developed principles, methods and tools, modules for automatic route planning and automatic optimal divergence in the field of risks, taking into account the interests of all participants in the operation, which allows reducing the influence of the "human factor" on the processes of controlling the movement of the ship , increase the safety of navigation, reduce the time of preparation of the ship for the voyage, the distance of the route, the time of sailing along the route and fuel consumption. The developed principles, methods and the algorithmic and software of the automatic control modules built on their basis have been verified by numerical simulation in the MATLAB environment and a closed loop simulation bench with a mathematical model of the control object. The results of mathematical modeling confirmed the workability and efficiency of the developed methods, which allows recommending them for use in automated systems with automatic control modules. At the same time, in the research: - for the first time, a method of constructing a risk field was developed, which consists in using as a ship domain a two-dimensional Gaussian distribution with root mean square values of uncertain factors (measurement error of the position of the ship and targets, partial uncertainty of characteristics of the ship and target ships, partial uncertainty of mathematical models of the ship and target ships, etc.) , in contrast to existing solutions, provides planning of the ship's route, control of the ship's sailing along the route and divergence of ships with a predetermined risk of collision, which allows to increase the safety of navigation; - for the first time, the method of optimal divergence of ships in the field of risks, which consists in organizing divergence by changing the course of the vessel by sliding along the ellipse of a given risk, unlike existing solutions, provides the possibility of optimal divergence (minimization of the path of separation) with a predetermined risk, which allows increasing the safety of navigation; - for the first time, the method of entering the trajectory of the given risk and leaving the trajectory of the given risk when performing the maneuver of the divergence of vessels, which consists in determining the position of the start of the circulation maneuver, performing the circulation maneuver, determining the position of the end of the divergence maneuver, and performing the circulation maneuver to return to the original course, which provides the possibility of accurate entering the divergence trajectory and returning to the primary course after completing the divergence maneuver; - improved the approach to planning the ship's route, which consists in using an on-board computer to determine the ship's route in the field of risks using gradient methods, unlike existing solutions, provides automatic laying of the ship's route using the latest technologies: digital marine navigation charts, hydrometeorological charts , traffic schedules of other ships, notice to mariners, etc., which allows to significantly reduce the time of preparation of the ship for the voyage, optimize the route of the ship, reduce fuel consumption and improve the safety of navigation Key words: Key words: safety of navigation, human factor, navigation risks, intelligent vehicles, automated system, optimal divergence, mathematical modeling, sliding on the given risk ellipse, gradient methods.