Computational intelligence methods in the safe ship control process

The paper presents a synthesis of multistage ship's optimum control by the application of the dynamic programming to determine own ship's safe trajectory during passing other ships. The Bellman's functional equation for the control process of the own ship is given. The state constraint variables, in the form of a circle, parabola, ellipse or hexagon, formulated by neural networks as the encountered ship's domain, are put into the computer program as a separate procedure. The considerations are illustrated by examples of computer simulation by a PROGNEURAL programme for determination of the safe ship's trajectory in situations of passing a number of the objects recorded on the ship radar screen in real navigation situations at sea.