“…Different algorithms have been developed and used for navigation, guidance, and control (NGC) such as avoiding obstacles, and each method has its advantages and disadvantages [17][18][19]. In general, the issues related to avoiding collisions, warnings, motion control, and navigation guidance are divided into three basic groups: (a) Target point stabilization, which is setting the position of the ship in target ship to determine the collision capability, collision time, and collision location of the event [20][21][22]; (b) Collision avoidance processing, which implements the warning and proposed plan of collision avoidance by the combination of systems on board including the AIS, ARPA, ECDIS, very high frequency (VHF) equipment, and the warning signal [23,24]; and (c) Trajectory tracking, which includes navigation tracking the required ship moves in the reference curve according to route planning, and supporting the management of the volume of vessel traffic in the port [25,26].…”