[2] XIANG J, LIU Y, LUO Z.Flight safety measurements of UAVs in congested airspace[J].Chinese Journal of Aeronautics, 2016, 29(5):1355-1366.
[12] FIORINI P, SHILLER Z.Motion planning in dynamic environments using velocity obstacles[J].International Journal of Robotics Research, 1998, 17(7):760-772.
[13] BERG J V D, LIN M, MANOCHA D.Reciprocal velocity obstacles for real-time multi-agent navigation[C]//IEEE International Conference on Robotics and Automation, IEEE, 2008:1928-1935.
[16] ZHANG W, WEI S, TENG Y, et al.Dynamic obstacle avoidance for unmanned underwater vehicles based on an improved velocity obstacle method[J].Sensors, 2017, 17(12):2742-2751.
[17] HUANG Y, VANGELDER P H.WEN Y, et al.Velocity obstacle algorithms for collision prevention at sea[J].Ocean Engineering, 2018, 151:308-321.
[18] CHEN P F, HUANG Y, MOU J, et al.Ship collision candidate detection method:a velocity obstacle approach[J].Ocean Engineering, 2018, 170:186-198.