The development trend of large scale and high speed increases the navigation risk of ships in restricted waters. The ships’ navigational conditions are restricted when sailing in restricted waters, so we should be reasonable planning of collision avoidance path in advance in order to ensure the safety of navigation. In this paper, a kind of intelligent bionic algorithm--AFS algorithm is used to plan the ship’s collision avoidance path in restricted waters. The algorithm has the advantages of fast convergence, strong initial parameter and so on. Taking ships’ safety level determined by the concentration of surrounding obstacles as the objective function, taking other ships’ fixed position in restricted waters as reference, providing ship the optimal navigation path, optimal time to collision and the safety collision angle for ship collision avoidance. The results shows that AFS Algorithm can make ship collision avoidance path planning effectively and quickly, provide early warning and collision avoidance decision parameters for the navigation ships in restricted waters.
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