From the avoiding collision angle of multi-ships encounter, this paper applies target decomposition- coordination method of large-scale systems theory to decompose the anti-collision turning into multiple independent sub-problems of optimization between the ship and multi-ships, and by use of coordinator we can calculate this ship's optimal turning angle to avoid collision. The simulation result shows that this method can not only solve the ship's optimal anti-collision turning for the situations of multi-ship encountering with each other but also provide a reference for multi-ship collision avoidance decision-making system.
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