@article{Surinov_2021, author = {Surinov, Igor}, title = {Algorithms and Calculation Scheme for Planning the Way of Movement of Trajectory Point During Maneuvering for Anchoring}, journal = {TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation}, volume = {15}, number = {3}, pages = {629-638}, year = {2021}, url = {./Article_Algorithms_and_Calculation_Scheme_Surinov,59,1158.html}, abstract = {The analysis of the historical aspect of the development of the maneuvering during anchoring shows that during the movement there is no time to control the position by technical means, due to the speed of the process of changing the parameters of movement. The main purpose of this research is to modify the methodological basis for the preparation of flight planning during anchoring with increased accuracy to determine the coordinates along which the ship will move. The methodology of this work is based on the calculation of trajectory points of the path in combination with the method of segments on the map using the characteristics of the maneuverability of the vessel. The method is based on determining the coordinate matrices of rectilinear and curvilinear sections through which the vessel passes during maneuvering for anchoring. The calculation program is developed in Excel, and allows without the help of a micro calculator that takes into account the maneuverability of the vessel in the automatic system. Thus, the control of the center of gravity of the vessel relative to a given path line is performed. A high-precision system for automatic determination of planned coordinates by trajectory points on track and traffic control during anchoring has been developed, which is based on recently developed algorithms, calculation schemes and methods at the Maritime University, which are based on the latest meaningful models of high-precision planning movement on them. This approach automates the process of controlling safe traffic, including the use of decision support systems, including stranding prevention and collisions with other vessels. The results of the research can be used on a ship for automated planning of coordinates on waypoints and control of traffic on them for safe maneuvering, as well as for training navigators on specialized simulators to perform trajectory planning, including limited conditions.}, doi = {10.12716/1001.15.03.18}, issn = {2083-6473}, publisher = {Gdynia Maritime University, Faculty of Navigation}, keywords = {Algorithms for Planning Ships Trajectories, Planning the Way of Movement, Algorithms, Maneuvering for Anchoring, Route Planning, Ship’s Trajectory Planning, Algorithms for Ships Trajectories, Trajectory Planning} }