Deliberative algorithm for trimaran collision avoidance
基于A*搜索算法的考虑实时性约束、船舶操纵性约束、海事规则约束的慎思避碰规划算法
1.deliberative planning
地图中，紫色区域为海域，黄色区域为静态障碍物，蓝色实线代表本船历史轨迹，蓝色虚线代表本船规划轨迹，红色实线代表他船历史轨迹，红色虚线代表他船预测轨迹， 重规划频率为0.1Hz；
case1：不考虑COLREGs规则的全局规划
case2：考虑COLREGs规则的全局规划
case3：考虑COLREGs规则的多船复杂会遇情况的全局规划
case4：考虑COLREGs规则的多船复杂会遇情况的全局规划，相比case3加大了与他船碰撞cost
2.trajectory following
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