# Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments

> Research article (IEEE Access, 2020) · cited 38× · AI/ML

**Wikidata**: [openalex:W3096486036](https://www.wikidata.org/wiki/openalex:W3096486036)  
**Source**: https://4ort.xyz/entity/two-stage-optimized-trajectory-planning-for-asvs-under-polygonal-obstacle-constraints-theory-and-experiments