# A COLREGs-Compliant Ship Collision Avoidance Decision-Making Support Scheme Based on Improved APF and NMPC

> Research article (Journal of Marine Science and Engineering, 2023) · cited 10× · AI/ML

**Wikidata**: [openalex:W4384298959](https://www.wikidata.org/wiki/openalex:W4384298959)  
**Source**: https://4ort.xyz/entity/a-colregs-compliant-ship-collision-avoidance-decision-making-support-scheme-based-on-improved-apf-and-nmpc