A route calculation for unmanned vessel

A route calculation problem for unmanned vessels is investigated according to the control position and course high requirements. Present day electronic chart display and information systems (ECDIS) operating on the track control regime provide wheel-of-point calculation to course changing. It is not enough to control unmanned ship on the route in the autonomous mode. To increase control precision a new route calculation routine is suggested. The routine provides route calculation in the geodesic coordinates without Cartesian reference system mapping. It is shown that in the empty water the routine can be reduced to an inverse survey computation. A universal route calculation algorithm providing great circle arc segmentation with any given accuracy is suggested. In the case of course changing restricted area, it is needed to calculate an alternate route for obstacle or collision avoidance. The algorithm of alternate route calculation based on Dubins problem solution is applied. The route is found as a sequence of great circle arcs according to the ship turn radius. The shown algorithm allows finding avoidance route waypoints with any given resolution.