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Collision prevention is critical for navigational safety at sea, which has developed rapidly in the past decade and attracted a lot of attention. In this article, an improved velocity obstacle (IVO) algorithm for intelligent collision avoidance of ocean-going ships is proposed in various operating conditions, taking into count both a ship’s manoeuvrability and Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). An integrated model combines a three-degree-of-freedom manoeuvring model with ship propeller characteristics to provide a precise prediction of ships in various manoeuvring circumstances. In the given case, what is different to present studies, this improved algorithm allows for decision-making in two ways: altering course and changing speed. The proposed technique is demonstrated in a variety of scenarios through simulation. The findings reveal that collision-avoidance decision-making can intelligently avoid collisions with the target ships (TSs) in multi-ship situations.