Realization of the smoothness of spline trajectory configuration for avoidance of nogo areas in due time

Abstract

The configuration of the spline trajectory with the integration of the sleekness criterion into the optimization of the path when moving a marine mobile object in a given direction, taking into account restrictive navigational obstacles, is considered. The smoothness of the trajectory is investigated as the use of the possibility of avoidance of nogo area due to the organization of variable flexibility of the spline structure as the realization of the possibility of rapid dynamic redevelopment in case of unavailability of the initially chosen path. The understanding of intelligent path planning as effective routing is argued with the strategic compliance of the condition for the fastest possible achievement of the goal of the shortest movement in a conflict navigation environment. The phenomenon of cubic B-spline approximation is substantiated as a rational means of synthesizing a path line, since the planned trajectory can be generated in a segmented manner for different variations of the curvature of an algebraic curve based on a balanced combination of isogeometric constraints with optimal arrangement of nodes. The variable generation of the spline shape is performed by coordinating grid points with finite functions while interactive implementing the smoothing effect. It is concluded that heuristic variation of smoothing parameters makes it possible to obtain B-splines of various geometric evolution with the possibility of transforming the multi-link structure of the ship motion line without the need to form a fundamentally new route. The hypothesis of spline structures stability due to the piecewise architecture of the spline, when local violations of mathematical composition do not critically affect the overall task of modeling the trajectory configuration is put forward. The expediency of using variable simulation of a maneuverable trajectory in real time for path planning due to the operational bending of cubic B-splines in order to avoid any collisions is noted. As a demonstration of the practical applicability of constructing the optimal configuration of the spline trajectory, two different variants of the spline route in real time are designed in the form of sequential computer screenshots. The issue of providing automated route formation with synchronous representation of geometric computer support of a safe way line to the watch assistant, stimulating the possibility of intellectual assistance to the navigator in using the strategy of instantaneous adoption of an agreed decision on ship management by providing situational awareness, is actualized. The developed algorithm has been tested as a harmonized support for the navigation staff in the organization of effective routing. A hypothetical use of a planned approach for calculating the trajectory of a marine autonomous surface vessel in order to practically form the concept of unmanned navigation is proposed.