Collision Avoidance among Multiple Ship Agents.According to the characters of marine navigation this paper, extends the concept of the velocity obstacle and develops. A reactive approach to collision avoidance among multiple ship agents. By selecting a reasonable velocity within free parts. Of its maneuvering space that aren 't covered by the union of velocity obstacles of all other ship agents a ship, agent can. Navigate safely without collision. Simulation experiments show that our approach is able to navigate multiple ship agents. With smooth and natural paths to avoid collision and can, be applied to multi - agent based marine traffic simulation systems.
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