This article presents safe ship control optimization design for navigator advisory system. Optimal safe ship control is presented as multistage decision-making in a fuzzy environment and as multistep decision-making in a game environment. The navigator’s subjective and the maneuvering parameters are taken under consideration in the model process. A computer simulation of fuzzy neural anticollision (FNAC) and matrix game anticollision (MGAC) algorithms was carried out on MATLAB software on an example of the real navigational situation of passing three encountered ships in the Skagerrak Strait, in good and restricted visibility at sea. The developed solution can be applied in decision-support systems on board a ship.

This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative game control software was performed in Matlab/Simulink software to determine the safe path of the robot when passing a greater number of other robots and obstacles. The operation of the game motion control algorithm of a mobile robot is illustrated by computer simulations made in the Matlab/Simulink program of two real previously recorded navigation situations while passing dozens of other autonomous mobile robots.

The paper introduces application of selected methods of a game theory for automation of the processes of moving marine objects, the game control processes in marine navigation and the base mathematical model of game ship control. State equations, control and state constraints have been defined first and then control goal function in the form of payments - the integral payment and the final one. Multi-stage positional and multi-step matrix, non-cooperative and cooperative, game and optimal control algorithms in a collision situation has been presented. The considerations have been illustrated as an examples of a computer simulations mspg.12 and msmg.12 algorithms to determine a safe own ship’s trajectory in the process of passing ships encountered in Kattegat Strait.

This article formulates the concept of games in the field of process control theory in marine sciences and reviews the literature on the possible applications of games. The possible types of game control processes for moving objects are presented. A computer-aided object safe control in the game environment, with an appropriate steering system, is described based on radar remote sensing in order to avoid collisions with many other objects that are encountered. First, the basic model of object movement in the game environment is presented as a differential game with many objects, described by appropriate game state equations, state and steering restrictions, and a quality control index in the form of an integral and final payment of the game. Next, the surrogate models of the differential game are described in detail for the development of practical computer control programs using positional and matrix game models. Particular attention, in each type of game, is paid to the aspect of cooperation or lack of cooperation between objects in making maneuvering decisions. A computer simulation illustrates these considerations with game control programs at a sea-crossing situation where multiple objects were encountered. Safe object trajectories are compared using two methods of game control using positional and matrix game models while also considering cases with cooperation or non-cooperation of objects.