In a previous paper a model was outlined for an encounter between two vessels. This paper shows how the model has been developed to include the simulation of the behaviour of more than two ships, the entrance to harbours, and narrow channels.

In a previous paper by the authors the concept of a domain was examined. Goodwin's definition of a domain was used, namely, ‘the effective area around a ship which a navigator would like to keep clear with respect to other ships and stationary objects’. The concept of distinct sectors for sidelights and sternlight was modified mathematically so that an area equal to the total of the segments was contained within a circle. By off-centering the position of the ship within this circle, the weighting of the differing areas for the various sectors was retained (Fig. I). A second circle with the ship off-centre was introduced called an arena or ‘sphere of influence’. When a ship is inside the arena a navigator becomes aware of the other ship and decides what action, if any, is needed to keep his own domain unviolated. This resulted in a model which obeyed the Collision Regulations.