A collision avoidance method for multi-ship encounter situations

This study proposes a multi-ship collision avoidance and route generating algorithm based on the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs) and the artificial potential field (APF) method. The velocity potential field is used as the field function of APF method. The algorithm consists of two modes, the course-changing and the track-keeping modes based on the velocity potential of vortex and...