Hierarchical global-local path planning for unmanned surface vehicles via improved RRT* and COLREGs-compliant SAC

Ocean Engineering 2026

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Authors: Yuheng Zhao, Chengkai Zhu, Jiawei Dang, Gang Xiao
DOI: 10.1016/j.oceaneng.2026.124199
Cited by: 4
References: 18

Fields of Study & Subjects

Maritime Navigation and Safety Robotic Path Planning Algorithms Underwater Vehicles and Communication Systems

Publication details

Journal / source
Ocean Engineering
Publisher
Elsevier BV
Volume
350
Pages
124199–124199
Publication date
15 January 2026
Language
EN