# Path Planning and Obstacle Avoiding of the USV Based on Improved ACO-APF Hybrid Algorithm With Adaptive Early-Warning

> Research article (IEEE Access, 2021) · cited 159× · AI/ML

**Wikidata**: [openalex:W3134645133](https://www.wikidata.org/wiki/openalex:W3134645133)  
**Source**: https://4ort.xyz/entity/path-planning-and-obstacle-avoiding-of-the-usv-based-on-improved-aco-apf-hybrid-algorithm-with-adaptive-early-warning