Decision-making method for multi-ship collision avoidance based on improved extensive game model

In the case of multi-ship encounter situations, most collision accidents are caused by not having timely and coordinated collision avoidance behaviors. Therefore, it is necessary to introduce an automatic collision avoidance method in the process of collision avoidance to quickly generate multi-ship collision avoidance decisions based on encounter situations. Multi-ship collision avoidance is a dynamic game used among officers under situations of multi-ship encounters. Considering the defects of the classic extensive game method in ship collision avoidance decision-making, the improved extensive game method is proposed, based on the velocity obstacle method. The feasible region of velocity is taken as the optional action range of the game to narrow down the action set. The simulation results show that the proposed method can effectively transform the multi-ship collision avoidance game problem into a 2-ship collision avoidance game problem, reduce the optional action range of a collision avoidance action set, and improve decision-making speed, while ensuring the safety of multi-ship navigation.