Ship collision avoidance has always been one of the classic topics in the field of marine research. In traditional encounter situations, officers on watch (OOWs) usually use a very high frequency (VHF) radio to coordinate each other. In recent years, with the continuous development of autonomous ships, there will be a mixed situation where ships of different levels of autonomy coexist at the same time. Under such a scenario, different decision makers have different perceptions of the current scene and different decision-making logic, so conventional collision avoidance methods may not be applicable. Therefore, this paper proposes a collaborative collision avoidance strategy for multi-ship collision avoidance under mixed scenarios. It builds a multi-ship cooperative network to determine cooperative objects and timing, at the same time. Based on a cooperative game model, a global collision avoidance responsibility distribution that satisfies group rationality and individual rationality is realised, and finally achieves a collaborative strategy according to the generalised reciprocal velocity obstacle (GRVO) algorithm. Case studies show that the strategy proposed in this paper can make all ships pass each other clearly and safely.

船舶避碰一直是海洋研究领域的经典课题之一。在传统的遭遇情况中，值班军官 (OOW) 通常使用甚高频 (VHF) 无线电来相互协调。近年来，随着自主船舶的不断发展，将会出现不同自主程度的船舶同时并存的混合局面。在这种场景下，不同的决策者对当前场景的感知不同，决策逻辑也不同，因此传统的避碰方法可能不再适用。因此，本文提出一种混合场景下多船协同避碰策略。它构建多船协作网络，同时确定协作对象和时机。基于合作博弈模型，实现满足群体理性和个体理性的全局避碰责任分配，最终根据广义相互速度障碍（GRVO）算法实现协同策略。案例研究表明，本文提出的策略可以使所有船舶清晰、安全地相互通过。