# Path planning of USV in confined waters based on improved A ∗ and DWA fusion algorithm

> Research article (Ocean Engineering, 2025) · cited 34× · AI/ML

**Wikidata**: [openalex:W4407007651](https://www.wikidata.org/wiki/openalex:W4407007651)  
**Source**: https://4ort.xyz/entity/path-planning-of-usv-in-confined-waters-based-on-improved-a-and-dwa-fusion-algorithm