Automatic berthing trajectory planning for an underactuated ship based on A* and extended dynamic window algorithm
WANG Zifan, SONG Guobin, MA Feng, WU Bing
Journal of Dalian Maritime University . 2024, (3): 78 -86 .  DOI: 10.16411/j.cnki.issn1006-7736.2024.03.009

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