Planning and control of the ship curvilinear route

The possibility of applying the traditional navigation parameters used in pilotage (bearing and distance), as well their sum difference for planning controlling ship curvilinear route coastal waters is being investigated. Mathematical apparatus based on classical methods such theory isolines, lines position, principles planning, approximation route. mathematical justification circle arcs, ellipse hyperbola both control isolines given. estimating vessel approaching to point beginning end turn movement along planned path by measuring navigational are proposed. problems physical feasibility arising at junction points straight parts recommended be resolved transition curves (clothoids), considering maneuvering characteristics vessel. main theses research supported graphical interpretation while given expressions ready practical application. formalization proposed automatic systems autonomous will allow navigator bases configuration relative position landmarks solve processing relevant information congested more efficiently conjunction with methods, which especially important advanced navigation.