# ESO-based path following control for underactuated vehicles with the safety prediction obstacle avoidance mechanism

> Research article (Ocean Engineering, 2019) · cited 43× · AI/ML

**Wikidata**: [openalex:W2967565127](https://www.wikidata.org/wiki/openalex:W2967565127)  
**Source**: https://4ort.xyz/entity/eso-based-path-following-control-for-underactuated-vehicles-with-the-safety-prediction-obstacle-avoidance-mechanism