Aiming at shipping movement and the time of collision avoidance in decision-making collision avoidance, a mathematical model was used for ship collision avoidance and to forecast the DCPA and TCPA.
针对船舶避碰决策系统中的船舶运动趋势和避碰时机建立数学模型，实时预估目标船相对于本船的最近会遇距离和最近会遇时间。
Adopting the method of delaying minimum time in initial position, the time-optimal and collision avoidance track of dual robots was obtained.
采用在初始位置延迟最小时间的方法，获得了双机器人时间优化的无碰撞轨迹。
A kind of track planning method for time-optimal and collision avoidance dual robots was introduced.
介绍了一种双机器人时间优化的避碰轨迹规划方法。
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