Avoidance of collisions at sea is crucial to navigational safety. In this paper, we use a distributed algorithm to communicate the entire collision avoidance trajectory information for each ship. In each communication, we suggest a new improvement function considering safety and efficiency to identify the avoidance ship in each cycle. Considering the nonlinear collision avoidance trajectory of ships, a new method for calculating the degree of danger using a velocity obstacle algorithm is proposed. Therefore, in each communication, each ship considers the avoidance behaviours of other ships in planning its avoidance trajectory. Additionally, we combine bi-criterion evolution (BCE) and the ant lion optimiser to plan the entire collision avoidance path. Three scenarios are designed to demonstrate the performance of this method. The results show that the proposed method can find a suitable collision-free solution for all ships.

中文翻译：

---

防止海上多船碰撞的分布式多目标算法

避免海上碰撞对航行安全至关重要。在本文中，我们使用分布式算法来传达每艘船的整个避碰轨迹信息。在每次交流中，我们建议考虑安全性和效率的新改进功能，以识别每个循环中的避让船。针对船舶的非线性避碰轨迹，提出了一种利用速度障碍算法计算危险度的新方法。因此，在每次通信中，每艘船在规划其避让轨迹时都会考虑其他船只的避让行为。此外，我们结合双准则进化（BCE）和蚁狮优化器来规划整个避撞路径。设计了三个场景来演示此方法的性能。