@article{Kupraty_Tomera_2023,
	author = {Kupraty, Oleksandr and Tomera, Miroslaw},
	title = {Global and Local Planning of Ship Route Using MATLAB and Simulink},
	journal = {TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation},
	volume = {17},
	number = {1},
	pages = {205-215},
	year = {2023},
	url = {./Article_Global_and_Local_Planning_of_Ship_Kupraty,65,1293.html},
	abstract = {This article considers a new method of decomposing the ship route into global and local planning using MATLAB and Simulink developed by the authors. The authors propose to create a program code in MATLAB and operate it into Simulink. Wherein, the corrective coefficients were written in MATLAB. Such trajectories are constructed as a set of points, collected into the special matrix. In determining of the angle value of the rudder was used the ship’s turning ability such as: high (HG), middle (MD) or low (LW) with regard to passage area. Moreover, in the article were analyzed and calculated the ship rudder effectiveness for Proportional-Integral-Derivative (PID) control. The paper is devoted to the problem of safety navigation. First of all is the task of planning the path: the trajectory of the vessel’s movement in the local water area. The purpose of planning the vessel trajectory in the local water area is to ensure navigation safety due to marine traffic and environmental conditions. One of the tasks of the present work is controlling following a desired trajectory. The article notes affect of the vessel motion deviation into control process.},
	doi = {10.12716/1001.17.01.23},
	issn = {2083-6473},
	publisher = {Gdynia Maritime University, Faculty of Navigation},
	keywords = {Safety at Sea, Device Control, Global Planning, Local Planning, Marine Autonomous Surface Ship, Scenario Matrix, Path Matrix, Route Matrix}
}