title: Optimal and safe ship control as a multi-step matrix game
abstract: The paper describes the process of the safe ship control in a collision situation using a differential game model with j participants. As an approximated model of the manoeuvring process, a model of a multi-step matrix game is adopted here. RISKTRAJ computer program is designed in the Matlab language in order to determine the ship's trajectory as a certain sequence of manoeuvres executed by altering the course and speed, in the online navigator decision support system. These considerations are illustrated with examples of a computer simulation of the safe ship's trajectories in real situation at sea when passing twelve of the encountered objects
keyphrases: ship control differential game RISKTRAJ computer program online navigation decision support system collision avoidance multistep matrix game trajectory tracking optimal control