中文摘要：

传统避碰方法侧重于根据船舶实时位置设计可行的避碰路径,较少考虑结合船舶动力学和船舶运动控制来设计一个完整的自动避碰系统.对此,提出一种实用、基于相对速度方向的自动避碰方法.该方法同时考虑避碰路径规划和本船运动控制,主要包括3个部分：首先,基于运动方程计算本船和目标船的基本运动与位置参数;其次,利用速度障碍方法计算本船实时的可行避碰方向;最后,实现控制变量的变换和控制算法设计.该方法是一个灵活、容易实现的多船避碰控制算法,模拟结果显示其具有较好的效果,并给出了进一步研究的建议.

英文摘要：

Ordinary collision avoidance calculation is not fit for automatic control operation because it designs feasible avoiding routes according to the relative positions and speeds of targets without considering the manoeuvreability of own ship. A practical multi-ship collision avoidance control strategy is proposed which plans collision avoiding route according to the relative velocity direction and own ship motion control simultaneously. This method contains three main steps： 1. calculating basic motion and position parameters of own ship and target ships ; 2. calculating real time feasible velocity direction of own ship based on the velocity obstacle; 3. proceeding to do control variable transformation and control algorithm design. This method allows real time multi-ship collision avoidance. Simulating experiments show promising results and is flexible and easy to implement. Some suggestions are given for further study.