# Time-optimal path planning and tracking based on nonlinear model predictive control and its application on automatic berthing

> Research article (Ocean Engineering, 2023) · cited 24× · AI/ML

**Wikidata**: [openalex:W4385886733](https://www.wikidata.org/wiki/openalex:W4385886733)  
**Source**: https://4ort.xyz/entity/time-optimal-path-planning-and-tracking-based-on-nonlinear-model-predictive-control-and-its-application-on-automatic-ber