# A constrained locking sweeping method and velocity obstacle based path planning algorithm for unmanned surface vehicles in complex maritime traffic scenarios

> Research article (Ocean Engineering, 2023) · cited 22× · AI/ML

**Wikidata**: [openalex:W4366545312](https://www.wikidata.org/wiki/openalex:W4366545312)  
**Source**: https://4ort.xyz/entity/a-constrained-locking-sweeping-method-and-velocity-obstacle-based-path-planning-algorithm-for-unmanned-surface-vehicles-