“…With the appearance and development of new navigation equipment like AIS [5,6], advanced computer technology, and so forth, the application of intelligent optimization algorithm has been used for collision avoidance strategy searching. Genetic algorithm (GA) is a popular heuristic algorithm, which has been used for many subjects, such as system identification [7,8], supply chain [9], and scheduling problem [10].Ś mierzchalski and Michalewicz [11], Szlapczynski [12], and Szlapczynski and Szlapczynska [13] first made use of genetic algorithm to plan the route of vessel in static or dynamic environment in order to avoid obstacles.…”