To the problem of stealth moving of the object in a threat environment on the periphery of its contact with a sonar station

The problem of ensuring secrecy of maritime mobile object in a threat environment is considered. The problem of navigating between initial and final points to maximize the probability of threat avoidance for the object is considered. Specifically, optimization of traffic is carried out by selecting the trajectory on which the probability of detection is minimized. Different aspects of detection of a moving object and the algorithms for calculating the probability of detection on the specified path are discussed.