基于速度障碍原理无人艇自动避碰算法研究
吴博,熊勇,文元桥
The research of algorithm for Unmanned Surface Vessel automatic collision avoidance based on Velocity Obstacles
WU Bo,XIONG Yong,WEN Yuan-qiao
大连海事大学学报 . 2014, (2): 57 -60 .