# A contour-based path planning method for terrain-aided navigation systems with a single beam echo sounder

> Research article (Measurement, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4390464302](https://www.wikidata.org/wiki/openalex:W4390464302)  
**Source**: https://4ort.xyz/entity/a-contour-based-path-planning-method-for-terrain-aided-navigation-systems-with-a-single-beam-echo-sounder