An Improved A-Star Algorithm Considering Water Current, Traffic Separation and Berthing for Vessel Path Planning - Liu, Chenguang; Mao, Qingzhou; Chu, Xiumin; Xie, Shuo (Applied sciences, 2019)
Keywords: A-Star algorithm; Algorithms; berthing; current effect; Efficiency; Methods; Planning; Ports; Product design; ship path planning; Vehicles