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Task planning involves automating the creation of the routes for vessels with known coordinates in a confined space. The management of vessel release in a given area affects the time required for a vessel to complete its voyage, and maximizing vessel performance involves identifying the shortest route. A key issue in automating the generation of the optimal (shortest) routes is selecting the appropriate mathematical apparatus. This paper considers an optimization method based on a recursive algorithm using Bellman-Ford routing tasks for large dimensions. Unlike other optimization techniques, the proposed method enables the shortest path to be assessed in a network model with a complex topology, even if there are arcs with negative weights. The practical implementation of the modified Floyd algorithm was demonstrated using a sample automated build and using it to calculate a network model with a complex topology, using an iterative procedure for a program prepared in MATLAB. Implementation of the computer model is simple, and unlike existing models, it eliminates restrictions associated with the presence of negative weights and cycles on a network and automates search shortcuts in ground branch functional means in MATLAB. To confirm the accuracy of the obtained results, we performed an example calculation using the network. The proposed algorithm and recursive procedure are recommended for finding energy-efficient solutions during the management of mobile objects on waterways. [ABSTRACT FROM AUTHOR]