# Hybrid path planning for USV with kinematic constraints and COLREGS based on improved APF-RRT and DWA

> Research article (Ocean Engineering, 2024) · cited 17× · AI/ML

**Wikidata**: [openalex:W4405804874](https://www.wikidata.org/wiki/openalex:W4405804874)  
**Source**: https://4ort.xyz/entity/hybrid-path-planning-for-usv-with-kinematic-constraints-and-colregs-based-on-improved-apf-rrt-and-dwa