                       !" #"$%&"  &" ’" ’ &%% ("  )& ’" ’&( ("  The paper introduces the dynamic programming algorithm of own ship optimal and safe trajectory in situation a many of encountered objects. The moving domains of met objects are introduced as a neural state constraint in the form of circle, parable, ellipse and hexagon. Finally the computer simulation of multistage own ship control in real navigational situations at sea is presented.  The safe control of own ship in collision situations is achieved by the determination of a safe trajectory and then through the return to the reference trajectory. In effect exists many possibly safe trajectories of the avoidance of the collision from which one ought to choose the optimal trajectory (Fig. 1). Fig. 1. The possible trajectories of own ship in situation of passing three encountered objects. To the determination of the optimal and safe ship trajectory one can use optimal theory methods in the form of linear and dynamic programming. The diversity of possible models directly affects the synthesis of the ship control algorithms which are afterwards affected by ship control device, directly linked to the ARPA radar system and determines effects of safe and optimal control [1,3,5]. Solid State Phenomena Vol. 180 (2012) pp 64-69 © (2012) Trans Tech Publications, Switzerland doi:10.4028/www.scientific.net/SSP.180.64 All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of TTP, www.ttp.net. (ID: 178.181.153.206-03/10/11,12:00:19)