METHOD FOR CALCULATING THE TRAJECTORY OF THE VESSEL WITH AUTOMATED ROUTE DETERMINATION
DOI:
https://doi.org/10.26906/SUNZ.2019.2.003Keywords:
route, automate the process of determining the route, the trajectory of the vessel, rational Bezier curves, the continuity of the curvature of the trajectoryAbstract
A method is proposed for calculating the trajectory of a vessel with an automated determination of the route, in which the trajectory of the vessel is in the form of a curve passing through space elements (or points of space) selected by an automated method for choosing a vessel route when planning a transition. Analysis of the process of determining the trajectory of the vessel showed the need to ensure the properties of the trajectory: the limit on the maximum curvature of the trajectory; the continuity of the trajectory and its two first derivatives, so that the planned trajectory in space is smooth; the ability to locally adjust the trajectory in real time, that is, in a certain area, without recalculating the entire trajectory. Existing approaches do not allow to fully take into account the requirements for the trajectory of the vessel and to calculate it for the entire length of the route whose elements (reference points) are defined automatically and correct it in real time, requires new approaches to determining the trajectory of the vessel. Application to automate the process of determining the route of the vessel when planning the transition of a discrete model of the vessel allows you to take into account the maneuverability characteristics of the vessel. Thus, the trajectory lying within the selected elements of space will satisfy most of the requirements for the trajectories used to specify the movement of the vessel. It is proposed to construct a curve from a sequence of polynomials. The segments are selected rational Bezier curves of the 7th degree, on which additional conditions of curvature at the initial and final points are imposed, to ensure ontinuity of the curvature of the trajectory. To this end, two additional points are added in the vicinity of the beginning and end of each segment. Additional points are determined in such a way that they lie on one straight line with the end (beginning) of a segment. That will provide safe directions of movement on the initial and final segments of the trajectory of the segment and higher accuracy of traffic control.Downloads
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