To ensure safe ship movement, some of the navigator's functions are transferred to automatic navigation systems. One of the most critical tasks in building automatic ship control systems is predicting movement during maneuvering and generating control programs within a specified time frame.
For this purpose, methods and algorithms of modern control theory are used, including model identification and adaptation of ship control processes. In the adaptive approach, the object model and control processes are uniquely formed based on real movement outcomes. Conducting active experiments to build an object model is generally complex in terms of safety and high material costs. Therefore, this excludes the possibility of using many known object identification methods. Building decision support systems in ship navigation based on modeling, model identification, and control adaptation methods minimizes researcher intervention in the control system, highlighting the relevance of this dissertation.
Thus, it is evident that objective inconsistencies exist:
• firstly, between the complexity of maneuvering processes in confined waters, associated with increased shipping intensity, and the lack of sufficiently effective methods to account for factors affecting ship movement;
• secondly, between the rapid development of knowledge-oriented and artificial intelligence (AI) technologies, hardware improvements, and the lack of methods to support ship maneuvering in confined waters.
These inconsistencies require the resolution of the stated scientific problem.
The aim of the research is to enhance the validity and efficiency of the navigator's decision-making during maneuvering in confined waters by implementing knowledge-oriented decision support systems.
This aim is achieved by addressing the following specific tasks:
• Analysis of ship motion control methods during maneuvering.
• Analysis of knowledge-oriented models and methods for ship navigation decision support systems.
• Development of a ship maneuverability model in confined and shallow waters.
• Identification of the model and development of an adaptive control method for ship maneuvering in confined waters.
• Evaluation of the effectiveness of the developed methods and development of recommendations for their implementation.
The object of the research is the processes of ship maneuvering in confined waters.
The subject of the research is knowledge-oriented models and methods for supporting ship maneuvering in confined waters as part of ship navigation decision support systems.
The tasks set in the dissertation are solved using the following research methods:
• system analysis – for analyzing the subject area and substantiating ship motion control methods during maneuvering in confined waters;
• artificial intelligence model building – for developing hardware and software for identifying the surface situation;
• decision support system building theory – for building a decision support system to ensure safe ship navigation in confined waters;
• mathematical modeling – for determining ship movement trajectories in confined waters;
• probability theory – for modeling and evaluating its results during the testing of the ship navigation decision support system.
The scientific novelty of the dissertation's results lies in the following:
1. An improved ship maneuvering model in shallow and confined waters, which, unlike existing models, accounts for mud rheology and internal wave generation at the water-mud interface, enhancing the descriptive capabilities of ship maneuvering for use in recognition methods based on artificial neural networks within the ship navigation decision support system.
2. Further development of a ship divergence model in confined waters, which, unlike existing models, accounts for hydrodynamic interaction between ships, is an element of the ship navigation decision support system, and enhances navigation safety.
3. An improved adaptive method for ship maneuvering control in shallow water, which, unlike existing methods, is based on the use of a dynamic motion control system and allows for increasing the accuracy of the tunable ship control coefficients in confined and shallow waters for automatic control and decision support systems.
