Safe Ship Control using Linear Programming

The presented work is part of the project to implement a simulator for determining the ship's trajectory in collision situations. The aim of this article is to model an optimal ship control system in collision situations taking into account the International Regulations for the Prevention of Collisions at Sea. The main task was to design and realize a trajectory visualization in the form of a simulation. An analysis of the simulation results was also carried out and used to formulate conclusions. In this paper, an algorithm based on the static linear programming method for determining a multistage ship trajectory was developed and presented. The block diagram of the algorithm and the basics of linear programming are described. A series of simulations in various navigational situations involving a foreign ship sailing on a course of 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315° was carried out and the influence of the various parameters on the course of the simulation itself was examined. Based on the data obtained, graphs were drawn up to enable an easier analysis of the simulation results. It was also found that, depending on the complexity of the navigational situation, the results are more or less predictable and that, in order to obtain the optimal outcome of the situation, all the simulation parameters must be chosen accordingly.