# Global path planning for autonomous ship: A hybrid approach of Fast Marching Square and velocity obstacles methods

> Research article (Ocean Engineering, 2020) · cited 113× · AI/ML

**Wikidata**: [openalex:W3048741668](https://www.wikidata.org/wiki/openalex:W3048741668)  
**Source**: https://4ort.xyz/entity/global-path-planning-for-autonomous-ship-a-hybrid-approach-of-fast-marching-square-and-velocity-obstacles-methods