Mechanism of dynamic automatic collision avoidance and the optimal route in multi-ship encounter situations

Autonomous navigation on the open sea involving automatic collision avoidance and route planning helps to ensure navigational safety. To judge whether all target ships (TSs) will pass safely and find the optimal route under multi-ship encounter situations, the relationship between the variations in the own ship (OS) velocity vector after nonlinear course altering motion and the collision avoidance result, which is defined as the collision...