# Global-local hierarchical path planning scheme for unmanned surface vehicles under dynamically unforeseen environments

> Research article (Ocean Engineering, 2023) · cited 36× · AI/ML

**Wikidata**: [openalex:W4378700575](https://www.wikidata.org/wiki/openalex:W4378700575)  
**Source**: https://4ort.xyz/entity/global-local-hierarchical-path-planning-scheme-for-unmanned-surface-vehicles-under-dynamically-unforeseen-environments