根据建立安全度模糊函数和易察觉模糊函数，确定了转向避碰中大幅度量化值。
According to the fuzzy functions of safety degree and readily apparent, the value of substantial course alteration is determined.
不遵守避碰规则、雾航规则； 不采用安全速度航行；
The factory was closed for failing to comply with government safety regulations.
安全问题是编队控制问题的一个重要内容，包括避碰和避障两方面。
Security issue is an important aspect of the formation control, which includes collision avoidance and obstacle avoidance.
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