With the development of commercial application of unmanned surface vessels, the real-time collision avoidance is the research focus on the multi-vessels situation, the structure complexity and time consumption problem limit its efficiency. To simplify the complex model and enhance the collision avoidance performance, the field theory is used to describe the navigation of ships abstractly, from which a more simplified optimization model of collision avoidance is derived, so the synthetic field regarding the virtual spatial electric field and velocity field is presented to exhibit the situation of ship motion. On the basis of the field environment, the more simplified collision avoidance model is designed, combining with the improved Electromagnetism-like mechanism algorithm, to generate the optimal collision avoidance strategy, for considering the energy and other loss. The complete algorithm has been compared and validated under the different layout, it is worth mentioning that the algorithm can potentially be developed to advance collision-free navigation in multi-vessels situation.

随着无人水面舰艇商业化应用的发展，实时避碰技术成为研究多舰船情况的研究重点，结构复杂性和耗时问题限制了其效率。为了简化复杂模型并提高防撞性能，使用场论来抽象地描述船舶航行，从中推导出更为简化的防撞优化模型，从而得到了关于虚拟空间电场和速度的合成场。场被呈现以展示船舶运动的情况。在野外环境的基础上，设计了更加简化的避碰模型，并结合改进的电磁机制算法，生成了最优的避碰策略，考虑能源和其他损失。完整算法已在不同布局下进行了比较和验证，值得一提的是，该算法可以潜在地发展为在多船只情况下推进无碰撞导航。