# An improved ant colony optimization algorithm for unmanned surface vehicle local path planning with multi-modality constraints

> Research article (Ocean Engineering, 2021) · cited 135× · AI/ML

**Wikidata**: [openalex:W3209852576](https://www.wikidata.org/wiki/openalex:W3209852576)  
**Source**: https://4ort.xyz/entity/an-improved-ant-colony-optimization-algorithm-for-unmanned-surface-vehicle-local-path-planning-with-multi-modality-const