为了使无人艇在复杂海况下能够自动安全避让动态障碍物，研究基于速度障碍法并考虑风浪流影响下的无人艇操纵运动特性的自主避碰算法。首先根据无人艇和避障物的对地速度计算其相对速度，然后分析判断二者的相对速度和相对位置之间的角度关系，得出避碰的可行路径范围，并通过改变无人艇的运动方向来完成对动态障碍物的避让。仿真实验结果表明：该方法有效地克服了局部路径规划的局限性，并且更符合无人艇实际航行避碰操纵要求，能够使无人艇在具有多个动态障碍物的复杂环境中安全避让。

In order to make Unmanned Surface Vessel in complex sea conditions automaticly and safely avoid dynamic obstacles,a algorithm of automatic collision avoidance based on Velocity Obstacles and considered USV maneuvering characteristics is presented. Firstly, the relative velocity is calculated by USV and avoidance objects’ ground speeds,and then the angular relationship between their relative velocities and positions is analyzed and determined, drawing a feasible avoidance path range，by changing  the direction of navigation to complete the dynamic obstacle avoidance. Simulation results indicate that: the method effectively overcomes the limitations of local path planning, and more in line with actually sailing and avoiding collision of maneuvering requirements, enabling USV security avoidance with multiple dynamic obstacles in complex environment.