# Research on obstacle avoidance of multi-AUV cluster formation based on virtual structure and artificial potential field method★

> Research article (Computers & Electrical Engineering, 2024) · cited 25× · AI/ML

**Wikidata**: [openalex:W4396237282](https://www.wikidata.org/wiki/openalex:W4396237282)  
**Source**: https://4ort.xyz/entity/research-on-obstacle-avoidance-of-multi-auv-cluster-formation-based-on-virtual-structure-and-artificial-potential-field-