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1
INTRODUCTION
Movementalongagiventrajectoryisassociatedwith
the solution of the well‐known problem of choosing
the necessaryspeedandcourse of the vessel, taking
into account vessel dynamic characteristics [21]. The
ordinary task of controlling the movement of the
vesselisstabilizationonagivencourse.Keepingthe
vessel on a given trajectory is carried out by
developingin one way or another amendmentsto a
given course, which is supposed to be equal to the
headingangleofthetrajectorysection,andstabilizing
on this corrected course. At the same time, a
sufficiently accurate knowledge of its
model is
necessaryandthesynthesisofahigh‐qualitycontrol
systemrequiresthetask ofparametric identification.
Errors in a priori ideas about the model of vessel
movementcansignificantlyaffectofthevesselmotion
deviation in the process of control. The accuracy of
suchcontrolmaynotbeenough
inconditionsofhigh
trafficintensityand/orrestrictions of the water area.
Even if the model of the vessel’s movement is well
identified on experiments, it’s characteristics can
change significantly during operation, because of
change in the geometry of the hull, change in
displacement,etc.
Thedevelopmentof thetransport
industryinthe
modern world is characterized by theintensification
of the use of Maritime Autonomous Surface Ships
(MASS)[9].The desiredrouteof thisshipisusually
expressedbythesetofwaypoints[6].Thismethodof
explanationis extremely attractivebecause it is easy
tosavetheroute
inthememoryofthecomputeron
board.Crossings canbe markedand planned before
orduringthevoyage,takingintoaccountfactorssuch
as weather conditions, obstacle avoidance and path
planning [6,15,16,19]. Each way point defined in
Global and Local Planning of Ship Route Using MATLAB
and Simulink
O.Kupraty
1
&M.Tomera
2
1
OdessaNationalMaritimeUniversity,Odessa,Ukraine
2
GdyniaMaritimeUniversity,Gdynia,Poland
ABSTRACT:Thisarticleconsidersanewmethodofdecomposingtheshiprouteintoglobalandlocalplanning
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 coefficientswere
written in MATLAB. Such
trajectoriesareconstructedasasetofpoints,collectedintothespecialmatrix.Indeterminingoftheanglevalue
oftherudderwasusedtheship’sturningabilitysuchas:high(HG),middle(MD)orlow(LW)withregardto
passage area. Moreover, in the article were
analyzed and calculated the ship rudder effectiveness for
Proportional‐Integral‐Derivative(PID)control.Thepaperisdevotedtotheproblemofsafetynavigation.First
of all is the task of planning the path: the trajectory of the vessel’s movement in the local water area. The
purposeofplanningthevessel
trajectoryinthelocalwaterareaistoensurenavigationsafetyduetomarine
trafficandenvironmentalconditions.Oneofthetasksofthepresentworkiscontrollingfollowingadesired
trajectory.Thearticlenotesaffectofthevesselmotiondeviationintocontrolprocess.
http://www.transnav.eu
the International Journal
on Marine Navigation
and Safety of Sea Transportation
Volume 17
Number 1
March 2023
DOI:10.12716/1001.17.01.23
206
Cartesian coordinates (x
i, yi) is used to create the
desired path in the form of a series of straight line
segmentsconnectingpairsofconsecutivepathpoints.
When the vessel reaches the indicated receiving
circuit surrounding point i, the route moves to the
nextpartofthelineconnectingintersectionsi+1.Ina
more advanced solution, the arcs of the circles
connecting the segments to the road lines are
identified around each point on the route and then
used to determine the desired line at that time [10].
Thefourthlevelofoperationitisafullyautonomous
ship. The fourth level of
operation it is a fully
autonomous ship and it involves managing control
devices without human intervention [9]. Once the
checkpointshavebeenestablished,itisrecommended
tomonitorthewaypointsfromtheseaascloselyas
possible, even in the presence of unknown
environmental circumstances. The works [11,12]
explainedglobal
and local planningof thetrajectory
ofashipasacontrolobject.Animportantfeatureis
the need to increase the capabilities of these vessels
andexpandthescopeoftasks.
In an autonomous vessel, the controls are
connected to the control device, which allows to
increase the relevant
control criteria: centralization,
reliabilityandcontrolcapacity[17].Centralizationof
control is characterized by the number of control
devices using controls. Reliability of management is
characterizedbytheprobabilityoflossofcontrol.The
control capacity is characterizedby the simplicity of
thecontrolalgorithm.Centralizationofthecontrolof
an
autonomous vessel is more effective than
centralizingthe control of a non‐autonomous vessel,
because an autonomous vessel uses a controlled
devicethathasa directconnectiontoallcontrols.The
reliability of controlling the electroniccontrol device
is more confident than the reliability of manned
control, because it depends
only on possible
programming errors and does not depend on the
emotional component, especially when duplicating
thecontroldevice.Thecontrolcapacityofthecontrol
device of an autonomous vessel is greater than the
capacity of non‐autonomous control, because the
autonomous control algorithm is expressed in the
formofmathematical
modelsanddoesnotdependon
subjectiveperception,andthedecisionisdetermined
objectivelyformathematicalcalculations.
Definitions for this article mentioned below
[11,12]:
path matrix (PM) – an incident matrix that
representstherelationshipbetweentheverticesof
theship’spath[11];
routematrix(RM)isamatrixconsistingofaseries
of geographic coordinates, coordinates are taken
fromthedatabaseofthecontroldevice;
scenario is a coincidence of certain conditions,
under the fulfillment of which actions occur at a
settimethatleadtoachangeintheroutematrixor
movement of the vessel in real time, with the
exceptionofactionsofdecelerationoracceleration,
whichdonotaffecttherouteof
thevessel;atthe
same time, these scenarios are executed in
accordance with the International Rules for the
Prevention of Collisions of Ships at Sea [2] and
other mandatory international and state
regulations, as well as taking into account
meteorologicaldata;
set time is the minimum time before a probable
event to determine the scenario and make a
decision in a non‐emergency mode, changing the
globalplanningtask;
scenariomatrix(SM)–amatrixthatrepresentsthe
relationship between the points (vertices) of the
ship’srouteandthecorrespondingscenarios;
pilot‐operator–apersonwhoremotelydownloads
inputdatatothecontroldeviceusingacomputer
ortelephone,whichaffectstherouteormovement
ofthevessel;
thevessel,fromthepointofviewofthetheoryof
ship’s control and automation, is the object of
control;
from the point of view of hydrodynamics, the
vesselisabodywhosebehaviourdependsonthe
landing, stability, measurements, displacement,
hydrodynamiccoefficients, externalfactors,stable
position, characteristics of engines, thruster
devicesandotherdata;
controldevice–adeviceconnectedtotheInternet,
programmedintoa microcontroller,whichcanbe
a computer, smartphone, regulator or navigation
robot;
immediate/emergency scenario is a scenario of
emergency active braking with the possibility of
changingthedirectionofmovementofthevessel,
initiated through a supervising device or pilot‐
operator, or shipowner, performed in emergency
mode, stopping the implementationof the global
planningtask;
segment[22]andsector[18]methodsaremethods
thatarecombinedfortheconstructionofturns;
segment MH is a segment, which comes from
wheeloverpointHtoturnvertexM;
segment MK is a segment, which comes from
vertexMtocoursestabilisationpointK.
alteration course scenario is a scenario, that
determined in local planning, not in global
planning,asadditionalarcintotheroutetoavoid
somedanger.
Thepurposeofthisstudyisfullyimplementation
globalandlocalplanning[11,12]andsimulationroute
passing only with the help of the MATLAB and
Simulink
environments.Itcanbeusedinports,inland
waters and in open waters, which will significantly
reducethecostofwaternavigation,whileincreasing
its safety, eliminating human errors in the
managementofthevessel.
MATLABandSimulinkenvironmentsareflexible
enough for motion simulation tasks and have the
necessary
tools of built‐in functions. These
programming environments have more similarities
withC++,JAVAandC#thanMSExcel,whichinthe
future will facilitate the integration of development
intomodernelectronicsystems.
There are a lot of similar functions in MATLAB,
C++, JAVA and C# environments and this
circumstancehas
themainroleinchoicetheMATLAB
andSimulinkenvironments.
Researchtasks:
6.
Explain the basic control concept of the proposed
autonomouscontrolmethod;
7.
Constructthetrajectoryofthevesselinglobaland
localplanning usingonlyMATLABenvironment,
analyze the features of trajectory changes in
207
accordance with the scenarios, conditions and
parametersofthevessel;
8.
Analyze thefeaturesofcomputermodelingof the
hydrodynamicsofthevessel;
9.
Construction of the path control model for the