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A direction-adaptive virtual force field method for multi-ship collision avoidance
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DOI：10.1016/j.oceaneng.2026.127481.png)
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Abstract
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• A direction-adaptive VFF framework is proposed for multi-ship collision avoidance. • Route-guided attraction separates along-route motion from cross-track recovery. • Directional Gaussian repulsion generates smooth port- and starboard-side responses. • DWA-based evaluation selects feasible directions under maneuvering and rule constraints.
Keywords:
Multi-ship encounters
Collision avoidance
Virtual force field
Dynamic window approach
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