The invention discloses a ship navigation automatic collision avoidance
route planning method and model. The method comprises the following steps: collecting information of an obstacle, a starting point and a destination point, and according to the collected information, when the ship encounters the obstacle in a
route planning process, firstly calculating a minimum angle connecting line of the ship capable of avoiding the obstacle, namely a connecting line with a maximum included angle with a
test line, and directly recording two possible driving paths on the left side and the right side of the obstacle; and then, when the ship detours along the obstacle, testing each vertex of the obstacle and the middle
airway point, respectively calculating and selecting connecting lines with the largest included angles between the left side and the
test line and between the right side and the
test line, comparing the two connecting lines, and taking the connecting line with the smaller included angle as an alternative
route segment to determine a unique route capable of detouring. Compared with the prior art, the ship navigation automatic collision avoidance
route planning method and model have the advantages that the route is automatically planned, the requirement of the ship for automatically avoiding collision with obstacles is met, and the method and model have important significance in solving the problems of ship stranding collision and the like and improving
marine navigation safety.