Optimality of Safe Game and Non-Game Control of Marine Objects

The article presents a model of the process of safe and optimal control of an autonomous surface object in a group of encountered objects. An algorithm for determining the optimal and safe trajectory based on a multi-object game model was proposed, and an algorithm for determining the optimal trajectory was proposed for comparative analysis, not taking into account the maneuverability of other objects. Simulation studies of the algorithms made it possible to assess the optimality of the trajectories for various acceptable object strategies. An analysis of the characteristics of the sensitivity of the safe control-assessed with the risk of collision, both on the inaccuracy of navigation data and on the number of possible strategies of objects, was carried out.