# Collision-avoidance path planning for multi-ship encounters considering ship manoeuvrability and COLREGs

> Research article (Transportation Safety and Environment, 2021) · cited 32× · AI/ML

**Wikidata**: [openalex:W3153822485](https://www.wikidata.org/wiki/openalex:W3153822485)  
**Source**: https://4ort.xyz/entity/collision-avoidance-path-planning-for-multi-ship-encounters-considering-ship-manoeuvrability-and-colregs