FAN Yun-sheng , ZHENG Kun-peng , ZHAO Yong-sheng . Dynamic collision avoidance method for unmanned surface vehicle based on improved particle swarm optimization[J]. Journal of Dalian Maritime University, 2020 , 46(1) : 1 -9 . DOI: 10.16411/j.cnki.issn1006-7736.2020.01.001

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