# Path Planning Method of Unmanned Surface Vehicles Formation Based on Improved A* Algorithm

> Research article (Journal of Marine Science and Engineering, 2023) · cited 27× · AI/ML

**Wikidata**: [openalex:W4315568129](https://www.wikidata.org/wiki/openalex:W4315568129)  
**Source**: https://4ort.xyz/entity/path-planning-method-of-unmanned-surface-vehicles-formation-based-on-improved-a-algorithm