Józef Lisowski

Comparison of Dynamic Games in Application to Safe Ship Control

Abstract 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 ships trajectory in the process of passing the ships encountered in Kattegat Strait.

The Optimal and Safe Ship Trajectories for Different Forms of Neural State Constraints

The paper introduced the dynamic programming algorithm of own ship optimal and safe trajectory in situation a many of encountered objects. The moving domains of met objects are introduced as neural state constraints in the form of circle, parable, ellipse and hexagon. Finally the computer simulation of multistage own ship control in real navigational situations at sea is presented.

Optimization decision support system for safe ship control

This paper describes the application of selected methods of optimal control theory for a ship to determine a safe trajectory during the passing of other ships encountered in restricted visibility at sea. The methods of comparison of safe ship control in a collision situation – multi-stage positional non-cooperative and cooperative game, multi-step matrix non-cooperative game, dynamic optimization with neural constrains of the state control process and kinematics optimization – have been introduced here. The synthesis of computer navigator decision supporting algorithms using dynamic programming and dual linear programming methods has been presented. The considerations have been used to illustrate examples of a computer simulation of the algorithms to determine the safe and optimal own ship trajectories in a navigational situation in restricted visibility on the North Sea.

The Radar Data Transmission to Computer Support System of Ship Safety

The radar system with automatic radar plotting aid constitutes a source of input data for algorithm determining safe trajectory of a ship. The article introduces radar data transmission details. It also presents the application of computer decision support system in collision situations of passage with greater quantity of met objects on board research and training ship m/v HORYZONT II. The system enables navigational data transmission from radar system and automatic determining of safe manoeuvre or safe trajectory of a ship. Computer programme used for communication with ARPA system was designed in Matlab software.

Sensitivity of safe game ship control

In this paper, game theory is applied to the marine navigation in congested waters. The process of game ship control is mentioned first, and then the base model and the approximated model of multi-step matrix game are described with the simulation results. Finally, the sensitivity of ship game control to inaccurate data from the ARPA anti-collision radar system and to variation in ship dynamics is presented.

Game control methods in avoidance of ships collisions

ABSTRACT The paper introduces application of selected methods of a game theory for automation of the processes of moving marine objects, the game control processes in marine navigation and the base mathematical model of game ship control. State equations, control and state constraints have been defined first and then control goal function in the form of payments - the integral payment and the final one. Multi-stage positional and multi-step matrix, non-cooperative and cooperative, game and optimal control algorithms in a collision situation has been presented. The considerations have been illustrated as an examples of a computer simulations mspg.12 and msmg.12 algorithms to determine a safe own ship’s trajectory in the process of passing ships encountered in Kattegat Strait.

The Multistage Positional Game of Marine Objects with Different Degree of Cooperation

Using as an example the process of safe ship’s control, the paper presents the problem of applying a positional non cooperative game of j objects for the description of the process considered as well as for the synthesis of optimal strategies. The approximated mathematical model of differential game in the form of dual linear programming problem is used for the synthesis of safe ship’s trajectory as a multistage process decision. The considerations have been illustrated an example of a computer simulation the MPGAME program to determine the safe ships trajectory in situation of passing a many of the objects encountered.

The sensitivity of state differential game vessel traffic model

Abstract The paper presents the application of the theory of deterministic sensitivity control systems for sensitivity analysis implemented to game control systems of moving objects, such as ships, airplanes and cars. The sensitivity of parametric model of game ship control process in collision situations have been presented. First-order and k-th order sensitivity functions of parametric model of process control are described. The structure of the game ship control system in collision situations and the mathematical model of game control process in the form of state equations, are given. Characteristics of sensitivity functions of the game ship control process model on the basis of computer simulation in Matlab/Simulink software have been presented. In the end, have been given proposals regarding the use of sensitivity analysis to practical synthesis of computer-aided system navigator in potential collision situations.

The Characteristics of the Matrix Game Sensitivity of the Safe Passing of Ships at Sea

This paper describes application of elements of dynamic game theory for automation of the process of controlling moving objects, on an example of safe control of the own vessel in collision situations while passing encountered vessels. A method of determining safe game trajectory of the vessel has been presented in a form of a multi-stage matrix game of cooperating or non-cooperating objects of control. The method of dual linear programming has been used for the synthesis of the computer algorithm of control. The considerations have been illustrated with examples of a computer simulation, in Matlab/Simulink language, of safe trajectory of the vessel in a real situation at sea. Characteristics of sensitivity of the game control to the inaccuracy of information on the condition of the process and change of its parameters have been presented.

Determination and Display of Safe Ship Trajectories in Collision Situations at Sea

In this paper, game and optimization theory is applied to the marine navigation in congested waters. The process of game ship control is mentioned first, and then the base model and the approximated models are described with the simulation results. For each approximated model of the dynamic game, an appropriate method of safe control to support the navigator decision in a collision situations has been assigned. The considerations have been illustrated an examples of a computer simulation of several algorithms to determine the safe ships trajectory in situations of passing many of the ships encountered, recorded on the radar screen in real navigational situation at sea.