Mathematical modeling trajectory of a ship as a control object in global planning

In today's world of wars and pandemics, devices are needed that can control a ship without a human, solve complex navigational tasks, and carry cargo/people to/from the affected area. If it is a warship – to perform a combat mission without loss of personnel. Such devices require conditional classification of scenarios and the formation of global planning tasks in real time. A mathematical model of the global planning task has been elaborated. Changing the trajectory in real time is a change in the route matrix in global planning, which allows to rebuild the matrix of local planning. Each scenario is a coincidence of certain circumstances and conditions; circumstances and conditions are written in the form of programming code. It is proposed to use track matrices for global planning of the ship's trajectory. The binary path matrix (incidence matrix) can vary depending on the operational scenario. There are 4 possible scenarios and a scenario matrix that shows the correlation between the scenario and the waypoints. The proposed elaboration does not contain a conflict of priorities. All global planning scenarios run on time. A sudden scenario is not included in the scenario matrix, but it stops the global planning task. The three-column filter moves the braking unit diagonally in the path matrix depending on the number of missed points and allows the vessel to stop in front of the correct vertex by moving the braking unit diagonally across the path matrix. The control device modifies the trajectory in accordance with the execution of a scenario. The vessel is considered to be a control object which, in accordance with the decision of the control device, changes trajectory and/or stops by active or passive braking. Relevant graphic simulations are presented in the article. Economic efficiency is calculated on the basis of open data on the salaries of the ship's crew.