@article{Tsymbal_Urbansky_2009,
	author = {Tsymbal, Mykola and Urbansky, Igor},
	title = {Method of Safe Returning of the Vessel to Planned Route After Deviation from Collision},
	journal = {TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation},
	volume = {3},
	number = {1},
	pages = {81-84},
	year = {2009},
	url = {./Article_Method_of_Safe_Returning_of_the_Tsymbal,9,140.html},
	abstract = {Flexible strategies for collision avoidance, presented at TransNav 2007, were examined using computer program for its correctness in different situations of ships interaction. It was determined, that on short distance the risk of collision can arise again when the vessel returning to the planned route after deviation from collision. For controlling ship's safe returning, the mathematical model was developed. This model describes the analytical dependence of the rate of changing relative course with respect to rates of turning of the vessels and its initial relative position. This method can be used in automatic systems for controlling the safe returning of the vessel to the planned route.},
	issn = {2083-6473},
	publisher = {Gdynia Maritime University, Faculty of Navigation},
	keywords = {Anti-Collision, Risk of Collision, Ship's Trajectory, Mathematical Model, Collision Avoidance, Safe Returning, Planned Route, Course Deviation}
}