A Study on Collision Avoidance of Ships with Decomposition-Coordination Method

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.