# Collision Avoidance Planning Method of USV Based on Improved Ant Colony Optimization Algorithm

> Research article (IEEE Access, 2019) · cited 86× · AI/ML

**Wikidata**: [openalex:W2935623401](https://www.wikidata.org/wiki/openalex:W2935623401)  
**Source**: https://4ort.xyz/entity/collision-avoidance-planning-method-of-usv-based-on-improved-ant-colony-optimization-algorithm