# HA-RRT: A heuristic and adaptive RRT algorithm for ship path planning

> Research article (Ocean Engineering, 2024) · cited 33× · AI/ML

**Wikidata**: [openalex:W4405100471](https://www.wikidata.org/wiki/openalex:W4405100471)  
**Source**: https://4ort.xyz/entity/ha-rrt-a-heuristic-and-adaptive-rrt-algorithm-for-ship-path-planning