document: Optimal and safe ship control as a multi-step matrix game 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
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