# Ship path planning based on improved multi-scale A* algorithm of collision risk function

> Research article (Scientific Reports, 2024) · cited 15× · AI/ML

**Wikidata**: [openalex:W4405055550](https://www.wikidata.org/wiki/openalex:W4405055550)  
**Source**: https://4ort.xyz/entity/ship-path-planning-based-on-improved-multi-scale-a-algorithm-of-collision-risk-function