# Underwater Submarine Path Planning Based on Artificial Potential Field Ant Colony Algorithm and Velocity Obstacle Method

> Research article (Sensors, 2022) · cited 28× · AI/ML

**Wikidata**: [openalex:W4280545271](https://www.wikidata.org/wiki/openalex:W4280545271)  
**Source**: https://4ort.xyz/entity/underwater-submarine-path-planning-based-on-artificial-potential-field-ant-colony-algorithm-and-velocity-obstacle-method