# A Two-Stage Path Planning Algorithm Based on Rapid-Exploring Random Tree for Ships Navigating in Multi-Obstacle Water Areas Considering COLREGs

> Research article (Journal of Marine Science and Engineering, 2022) · cited 38× · AI/ML

**Wikidata**: [openalex:W4303712138](https://www.wikidata.org/wiki/openalex:W4303712138)  
**Source**: https://4ort.xyz/entity/a-two-stage-path-planning-algorithm-based-on-rapid-exploring-random-tree-for-ships-navigating-in-multi-obstacle-water-ar