上海交通大学学报
船舶自主避碰的慎思型轨迹规划
杨荣武,许劲松,王鑫
Deliberative Trajectory Planning for Shipborne Autonomous Collision Avoidance System
YANG Rongwu,XU Jinsong,WANG Xin
上海交通大学学报 . 2019, (12): 1411 -1419 .  DOI: 10.16183/j.cnki.jsjtu.2019.12.003