# Route planning and track keeping control for ships based on the leader-vertex ant colony and nonlinear feedback algorithms

> Research article (Applied Ocean Research, 2020) · cited 45× · AI/ML

**Wikidata**: [openalex:W3035614351](https://www.wikidata.org/wiki/openalex:W3035614351)  
**Source**: https://4ort.xyz/entity/route-planning-and-track-keeping-control-for-ships-based-on-the-leader-vertex-ant-colony-and-nonlinear-feedback-algorith