# Autonomous Berthing of Unmanned Surface Vehicles Based on Improved Dubins-RRT Algorithm and Non-Singular Terminal Sliding Mode Control

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

**Wikidata**: [openalex:W4367665887](https://www.wikidata.org/wiki/openalex:W4367665887)  
**Source**: https://4ort.xyz/entity/autonomous-berthing-of-unmanned-surface-vehicles-based-on-improved-dubins-rrt-algorithm-and-non-singular-terminal-slidin