In the publication is specified, that providing of safe divergence of vessels at sailing in the straitened waters is one of most the issue of the day of accident-free of navigation. Therefore, straitened districts of sailing with especially intensive motion for the control of process of navigation by the stations of traffic control of vessels which for providing of safe divergence of vessels must dispose by modern facilities of warning of collision of vessels, reducing influencing of human factor of operator by the use of methods of automatic determination of strategy of divergence of vessels at their external management. Actuality of development of method of automatic determination of parameters of strategy of divergence of vessels by the change of their courses is determined to these. The analysis of the last achievements and publications is resulted in work, the decision of the considered problem and selection of parts unsolved before is begun in which. It is shown that for the decision of problem of warning of collisions of vessels was used method of nonlinear integral invariance, methods of theory of optimum discrete processes, and also methods of differential game theory. The method of warning of collision of vessels by displacement on a line parallel of way of ship and method of flexible strategies of divergence of vessels got development, allowing to form optimum strategy of divergence of ship with a few dangerous targets taking into account substantial factors. The publication contains analytical dependence of values of courses of deviation of vessels providing their divergence on minimum - possible distance of rapprochement, without taking into account inertia. It is specified, that for optimum of maneuver of divergence is needed, that increases of courses and were minimum, and as the criterion of optimum the sum of their squares is chosen. It is shown that without taking into account inertia of ship at a turn distance of the shortest rapprochement appears less minimum-possible distance on a size which depends on the increase of relative coordinates of vessels in times of turn and relative course of their deviation. Procedure of progressive approximations is offered for the calculation of courses of deviation of vessels taking into account their inertia and the algorithm of calculation of course of deviation is represented. Set by the values by the increases of courses from - 60° to 60°, the courses of deviation of the second ship settle accounts, which the courses of deviation of the first ship taking into account the dynamics of vessels and increase of his course are determined on. Every maneuver of divergence is characterized by the criterion of optimum, thus the maneuver of divergence gets out as optimum, at which the criterion of optimum is minimum. A situation is resulted in the publication, for which the computer imitation program expected the optimum courses of deviation of vessels. By the computer program, playing of maneuver of divergence of vessels with the got courses of deviation was produced.
AUTOMATIC METHOD DETERMINATION OF PARAMETERS STRATEGY OF DIVERGENCE OF VESSELS BY THEIR COURSES CHANGE
