Sensitivity of Safe Trajectory in a Game Environment

What is it about?

This article provides an analysis of the autonomous navigation of marine objects, such as ships, offshore vessels, and unmanned vehicles, and an analysis of the accuracy of safe control in game conditions of the cooperation of objects during maneuvering decisions. A method for determining safe object strategies based on a cooperative multi-person positional modeling game is presented. The method was used to formulate a measure of sensitivity of safe control in the form of a relative change in the payment of the final game, determine the final deviation of the trajectory safe from the set trajectory of the autonomous vehicle movement, and evaluate the accuracy of information on the state of the control process. The sensitivity of safe control, in both to the degree of the inaccuracy of radar information and in changes in the kinematics and dynamics of the object itself, was considered. As a result of the simulation studies of the positional game algorithm using an example of a real situation at sea of passing one's own object with nine other encountered objects, the sensitivity characteristics of safe trajectories in conditions of both good and restricted visibility at sea are presented.

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Why is it important?

The use of simplified models of a dynamic process game for the synthesis of optimal control allows us to determine safe trajectories of an own object in situations that involve passing a large number of encountered objects at a certain course sequence and speed maneuvers. The developed algorithms also consider the COLREGs rules and maneuver advance time, estimating the object's dynamic properties and assessing the final deviation of the actual trajectory from the reference value.

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