A Decision-Making Method for Ship Collision Avoidance Based on Improved Cultural Particle Swarm

Algorithm 2

Cultural algorithm pseudocode.

(1)	begin
(2)	t = 0;
(3)	POP(t); //Initialize the population space
(4)	BLF(t); //Initialize the belief space
(5)	repeat
(6)	POP(t); //Assessing population space
(7)	update (BLF(t), accept (POP(t)));
(8)	generate (POP(t), influence (BLF(t)));
(9)	t = t + 1;
(10)	select POP(t) from POP(t−1);
(11)	until Termination condition
(12)	end