【摘要】 将Bellman函数式应用于船舶避碰路线的选定。即建立一个关于船舶机械运动的形式限制过程的动态模型 ,用于船舶航行的总体控制。形式限制包括圆形 ,椭圆形 ,抛物线形成或六角形 ,包括被神经网络公式化了的在有碰撞可能的海域内船只的活动范围。形式限制在计算机程序中为一个独立的NEUROCONSTR程序 ,是为应用MATLAB软件中神经网络工具箱进行编程的。对这个问题笔者结合计算机仿真实例进行了说明。本文采用一艘正航行于波罗的海一个有 9艘航行中的目标船舶的海域中的实船上的雷达屏幕记录。然后采用PROGNEURAL程序对此船的避碰路线进行确定更多还原

【Abstract】 The paper presents the application of the Bellman’s functional equation to determine safe ship’s trajectory in collision situations.A dynamic model of the process with kinematic constraints of state has been used for the synthesis of control.The state constraints,in the form of a circle,parable,ellipse or hexagon,formulated as the encountered ship’s domains by neural networks are entered into the computer program as a separate procedure NEUROCONSTR,modelled with the use of Neural Network Toolbox from the MATLAB package. The considerations have been illustrated with example of computer simulation the PROGNEURAL programme of determination the safe ship’s trajectory in situation of passing nine met objects,recorded on the ship’s screen radar in real navigational situation at sea on the Baltic Sea.更多还原