# Time-optimal obstacle avoidance of autonomous ship based on nonlinear model predictive control

> Research article (Ocean Engineering, 2022) · cited 25× · AI/ML

**Wikidata**: [openalex:W4302425367](https://www.wikidata.org/wiki/openalex:W4302425367)  
**Source**: https://4ort.xyz/entity/time-optimal-obstacle-avoidance-of-autonomous-ship-based-on-nonlinear-model-predictive-control