avoiding collision的用法和樣例：
例句
- The collision is considered in the solution, so that the manipulator based on this solution method can move more flexible.
同時在求解的過程中利用罰函數法，對逆解過程進行避碰優化，使得基於該逆解方法的機械手運動控制更具靈活性。 - The method is used in the field of multi-ship collision avoidance decision-making, and the hiberarchy graph is established.
將此方法應用在多船避碰決策中，建立了多船避碰決策層次結構圖。
