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Huang, Y. (author), Chen, L. (author), van Gelder, P.H.A.J.M. (author)Numerous methods have been developed for ship collision prevention over the past decades. However, most studies are based on strong assumptions, such as the need for a constant velocity of the target-ship, the limitation to two-ship scenarios, the simplification of ships’ dynamics, etc. Generalized Velocity Obstacle (GVO) algorithm can bridge...journal article 2019