“…Primarily, they resolved the issue of accidents with more than two vessels, the action space search and expert system coupled each other to handle the complex maritime situations. Szlapczynski andSmierzchalski (2009), Mitomo, Hikida, Murai, Hayashi, andOkazaki (2008) had not restricted only for calculation of these elements while describing the visualizing collision risk process. They provided the equation through CTPA (Collision Threat Parameters Area) and DCTPA (Direct Collision Threat Parameters Area) using the Cartesian coordinate system and focusing on the safe distance between the own and several target ships.…”