[Retracted] Step-by-Step Multi-Ship Collision Avoidance Navigation Path Planning Based on Particle Swarm Optimization

Table 1

Corresponding table of safe passage distance and zoning of ships.

Encounter situation	Safety distance (n miles)	Corresponding partition
Right encounter	1.07	F zone
Crossing situation	1.0	A, B, and E zones
Being chased	0.65	C and D zones