# Optimization on planning of trajectory and control of autonomous berthing and unberthing for the realistic port geometry

> Research article (Ocean Engineering, 2022) · cited 64× · AI/ML

**Wikidata**: [openalex:W3169938941](https://www.wikidata.org/wiki/openalex:W3169938941)  
**Source**: https://4ort.xyz/entity/optimization-on-planning-of-trajectory-and-control-of-autonomous-berthing-and-unberthing-for-the-realistic-port-geometry