Mathematical models for software development of control systems for unmanned vessels

Unmanned navigation is a direction in the field of water transport, which is based on the idea of operating unmanned vessels. Despite the fact that the world’s first model of an unmanned vehicle was the model of a remotely operated vessel shown by Nikola Tesla in 1899, for a long time humanity’s interest in unmanned vessels was much lower than in unmanned aerial vehicles, since they found use in the military industry faster, and cars that would potentially have greater consumer demand, and accordingly, projects that would be commercially successful and quickly recouped. However, in recent decades, in the field of water transport, a tendency to reduce the number of ship crews has emerged and continues to develop to this day, based on the desire to reduce the influence of the “human factor” on the accident rate of navigation. In addition to improving the safety of navigation, it is expected that with the transition to unmanned navigation, the useful capacity of ships will increase and operating costs will decrease. In this regard, interest in unmanned vessels has increased and it has become necessary to develop software for their control systems, and for this, in turn, appropriate mathematical and algorithmic support is required. In this work, at the first stage, the concept of an unmanned vessel will be studied, the classification of the degree of autonomy of vessels will be considered, and the structural diagrams of control systems of unmanned vessels with remote control and autonomous unmanned vessels will be familiarized. At the second stage, the features characteristic of most mathematical models of ship movement described in the literature today will be studied first, and then systems of equations describing the movement of a ship in deep water and in shallow water will be considered.