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He, Zhibo (author), Liu, Chenguang (author), Chu, Xiumin (author), Negenborn, R.R. (author), Wu, Qing (author)For the complex multi-ship encounter scenarios, this article proposes a dynamic collision avoidance path planning algorithm based on the A-star algorithm and ship navigation rules, namely Dynamic Anti-collision A-star (DAA-star) algorithm. A dynamic search mechanism of the DAA-star algorithm considering time factors is designed to enable the...journal article 2022