# An improved real-time collision-avoidance algorithm based on Hybrid A* in a multi-object-encountering scenario for autonomous surface vessels

> Research article (Ocean Engineering, 2022) · cited 20× · AI/ML

**Wikidata**: [openalex:W4229459807](https://www.wikidata.org/wiki/openalex:W4229459807)  
**Source**: https://4ort.xyz/entity/an-improved-real-time-collision-avoidance-algorithm-based-on-hybrid-a-in-a-multi-object-encountering-scenario-for-autono