Maintaining Symmetry in Optimal and Safe Control of the Ship to Avoid Collisions at Sea

Abstract

The aim of this study was to make a novel symmetry analysis in relation to the importance of optimizing the ship’s trajectory and safety in situations at sea where there is a risk of collision with other ships. To achieve this, the state constraints in the optimization were formulated as ship domains generated by the neural network. In addition, the use of the Bellman dynamic programming method enabled the effective optimization of the ship’s safe control. The above assumptions were confirmed by the calculations of the optimal and safe ship traffic paths for the two valid agree with COLREGs states of visibility at sea and for different densities of the dynamic programming grid. Practical conclusions from the research were formulated, and a plan for further research on methods of ensuring safety in navigation was outlined.