5Roman Smierzchalski, Zbigniew Michalewicz, Modeling of Ship Trajectory in Collision Situations by an Evolutionary Algorithm[ J ]. IEEE Trans. On Evolutionary, 2000,4 (3) :227-241.
6TSOU M C, HSUEH C K. The study of ship collision avoid- ance route planning by ant colony algorithm [ J ]. Journal of Marine Science and Technology, 2010, 18 (5) : 746-756.
7TAM C, BUCKNALL R, GREIG A. Review of collision a- voidance and path planning methods for ships in close range encounters[J]. Journal of Navigation, 2010, 62(3): 455- 476.
8GOODWIN E M. A statistical study of ship domains [ J ]. Journal of Navigation, 1975, 28(3) : 328-334.
9DAVIS P V, DOVE M J, STOCKEL C T. A computer simu- lation of marine traffic using domains and arenas[ J]. Journal of Navigation, 1980, 33(2): 215-222.
10SZLAPCZYNSKI R. Solving multi-ship encounter situations by evolutionary sets of cooperating trajectories [ J ]. Trans Nay, 2010, 4(2): 185-190.