Sammendrag
Centralized collision avoidance algorithms for multiple autonomous surface vehicles are frequently proposed, but most of them assume ideal condition. However, vessels’ non-collaboration and non-compliance motion in Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) may happen in real maritime world. This thesis aims to find the optimal maneuvering in both ideal and non-ideal conditions. A centralized optimization system utilizing information exchange is developed and implemented for multiple vessels encountering. Particle swarm optimization method is used for solving the optimization problem. Simulation tests are performed to validate the effectiveness and robustness of the proposed optimization system.