# Obstacle avoidance path planning of unmanned submarine vehicle in ocean current environment based on improved firework-ant colony algorithm

> Research article (Computers & Electrical Engineering, 2020) · cited 61× · AI/ML

**Wikidata**: [openalex:W3046190208](https://www.wikidata.org/wiki/openalex:W3046190208)  
**Source**: https://4ort.xyz/entity/obstacle-avoidance-path-planning-of-unmanned-submarine-vehicle-in-ocean-current-environment-based-on-improved-firework-a