The collision is considered in the solution, so that the manipulator based on this solution method can move more flexible. 同时在求解的过程中利用罚函数法，对逆解过程进行避碰优化，使得基于该逆解方法的机械手运动控制更具灵活性。
The method is used in the field of multi-ship collision avoidance decision-making, and the hiberarchy graph is established. 将此方法应用在多船避碰决策中，建立了多船避碰决策层次结构图。
