Sensitivity of Safe Trajectory in a Game Environment on Inaccuracy of Radar Data in Autonomous Navigation

Abstract

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 for 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 the sensitivity of safe control in the form of a relative change in the payment of the final game; to determine the final deviation of the safe trajectory from the set trajectory of the autonomous vehicle movement; and to calculate the accuracy of information in terms of evaluating the state of the control process. The sensitivity of safe control was considered in terms of both the degree of the inaccuracy of radar information and changes in the kinematics and dynamics of the object itself. As a result of the simulation studies of the positional game algorithm, which used 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 under conditions of both good and restricted visibility at sea are presented.

A Comparative Analysis of Energy Consumption by Conventional and Anchor Based Dynamic Positioning of Ship

“…The group also includes all kinds of algorithms related to determining the route of the passage for a ship [38,39], steering along a given route of passage [40][41][42], and determining anti-collision maneuvers [43,44]. A separate group consists of algorithms enabling the autonomous movement of the vessel in the maritime navigation environment, including the acquisition of objects, determination of the route of the passage, steering along the designated route, implementation of anti-collision maneuvers and precise maneuvering in port areas [45][46][47][48][49].…”

Remote Sensing in Vessel Detection and Navigation

“…Lisowski [ 5 ] address the problem of inaccurate and limited radar data for autonomous ships during maneuvering. They analyze the use of game theory for decision processes in order to predict the safest trajectories, and do simulation studies of a positional game algorithm.…”

Sensitivity of transport object control quality for measuring the inaccuracy of state variables

“…In the transport and logistics processes of marine, air and land, multiple entities interact, which entails human operators making maneuvering decisions that are influenced by different factors. To safely control these processes, game theory, according to Lisowski [5], can play a significant role here. This allows for the creation of anti-collision control algorithms that consider the uncontrollable path of the transport process resulting from the operator's incorrect assessment of the situation.…”