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This research aims at utilizing the marine traffic flow simulation based on an autonomous ship cluster behavior model for route planning. Marine traffic flow simulations were performed with various route dimensions and traffic conditions, and the route navigation characteristics of ship agents were investigated. The marine traffic flow simulation system we developed contains route dimension parameters such as route distance, route width, and route deflection angle. Also controlled by the system are traffic condition parameters such as traffic volume, number of inlet/outlet ways, entry/departure angles, approach distance, and exit run-up distance. The route navigation characteristics of ship agent groups were analyzed mainly using the group navigation energy, and the following results were obtained: (1) The distance of the approach section had a big impact on deviation from the intended route. (2) As the route width increased, the group navigation energy in the approach section decreased and that in the route section increased. (3) The group navigation energy of the route section increased as the route deflection angle increased.