Mathematical models of submersible craft movement optimization under circulation

A processes manoeuvring optimization problem of submersible craft in terms of its track under a stress on both steerage and engine unit was formulated as a non-linear programming task with non-convex region of feasibility. Unconventional mathematical models and solution procedures of this problem have been proposed in present article. It has been shown that the derived solution is optimal as for a maximization speed criterion so for a maximization trajectory curvature criterion.