Ship’s Trajectory Planning Based on Improved Multiobjective Algorithm for Collision Avoidance

Table 1

Ship model parameters.

Symbol	Quantity	Ship A	Ship B	Ship C
	ship’ length (m)	60	250	350
	maximum speed (kn)	30	25	10
	longitudinal shift model time constant(s)	150	600	800
	transverse movement model time constant(s)	2	4	36
	yaw model time constant(s)	4	23	46
	stability coefficient of yaw	-0.05	0	0