527

1 BACKGROUND

One of the most important issues in marine navigation is

safe control of the shipʹs movement. As a result of the

relative movementof own ship with the speed V and the

courseandthemetj‐thshipmovingatthespeedVjand

coursej,a

certainsituationatseaisdetermined(Lisowski

2016).

Thevariables characterizingsituationin theform

of distance Dj and bearing Nj to j‐th met ship are

measured by Automatic Radar Plotting Aids ARPA

anti‐collisionsystem(Lebkowski2018).

The standard ARPA system performs automatic

tracking of 20 encountered objects, determination of

their speed and courses as well as

 parameter s

approach to the own ship‐Distance of the Closest

Point of Approach

minjj

DCPA



 and Time to the

ClosestPointofApproach

minjj

TTCPA

 (Fig.1).



Figure1.Passingownshipwiththej‐thencounteredship.

TheproperuseoftheARPAanti‐collisionsystem

in order to achieve greater safety of navigation

requires, in addition to the preparation of its

operationanddatainterpretation,supplementingthe

system with appropriate algorithms of computer

navigatormaneuveringdecisionsupport,eliminating

human characteristics and taking into account the

uncertaintyof

the situationand thegame properties

of the control process (Lazarowska 2017, Lisowski

2014,Malecki2013,Mohamed‐Seghir2016).

Thenecessitytotakeintoaccountthestrategiesof

the ships encountered and their kinematics and

dynamics as control objects determines the

The Safe Control Sensitivity Functions in Matrix Game

of Ships

.Lisowski

GdyniaMaritimeUniversity,Gdynia,Poland

ABSTRACT:Thepaperdescribestheuseofmatrixgametheoryforthesynthesisofsafecontrolofashipin

collisionsituations.Ananalysisofthesensitivityoftheshipcontrolalgorithmtotheinaccuracyofprocessstate

information and changes in its parameters was presented.

 Sensitivity characteristics were compared on the

exampleofthenavigationalsituationintheKattegatStraitforgoodandrestrictedvisibilityatsea.



http://www.transnav.eu

the International Journal

on Marine Navigation

and Safety of Sea Transportation

Volume 12

Number 3

September 2018

DOI:10.12716/1001.12.03.11