[1] LIU Z X, ZHANG Y M, YU X et al. Unmanned surface vehicles: an overview of developments and challenges[J]. Annual Reviews in Control, 41, 71-93(2016).

[2] LIU Y C, BUCKNALL R. Efficient multi-task allocation and path planning for unmanned surface vehicle in support of ocean operations[J]. Neurocomputing, 275, 1550-1566(2018).

[3] CHEN Z, ZHANG Y M, ZHANG Y G et al. A hybrid path planning algorithm for unmanned surface vehicles in complex environment with dynamic obstacles[J]. IEEE Access, 7, 126439-126449(2019).

[4] SONG R, LIU Y C, BUCKNALL R. Smoothed A* algorithm for practical unmanned surface vehicle path planning[J]. Applied Ocean Research, 83, 9-20(2019).

[5] LONG Y, ZUO Z M, SU Y X et al. An A*-based bacterial foraging optimisation algorithm for global path planning of unmanned surface vehicles[J]. Journal of Navigation, 73, 1247-1262(2020).

[6] ZHANG J, ZHANG F, LIU Z Y et al. Efficient path planning method of USV for intelligent target search[J]. Journal of Geovisualization and Spatial Analysis, 3, 13(2019).

[7] XIA G Q, HAN Z W, ZHAO B et al. Global path planning for unmanned surface vehicle based on improved quantum ant colony algorithm[J]. Mathematical Problems in Engineering, 2019, 2902170(2019).

[9] ZHOU C H, GU S D, WEN Y Q et al. Motion planning for an unmanned surface vehicle based on topological position maps[J]. Ocean Engineering, 198, 106798(2020).

[10] FU M Y, WANG S S, WANG Y H. Multi-behavior fusion based potential field method for path planning of unmanned surface vessel[J]. China Ocean Engineering, 33, 583-592(2019).

[11] CANDELORO M, LEKKAS A M, SØRENSEN A J. A Voronoi-diagram-based dynamic path-planning system for underactuated marine vessels[J]. Control Engineering Practice, 61, 41-54(2017).

[12] NIU H L, LU Y, SAVVARIS A et al. Efficient path planning algorithms for unmanned surface vehicle[J]. IFAC-PapersOnLine, 49, 121-126(2016).

[14] FUJII Y, TANAKA K. Traffic capacity[J]. The Journal of Navigation, 24, 543-552(1971).

[15] [15] EDA M, PICH V. Robot motion planning using generalised vonoi diagrams[C]Proceedings of the 8th Conference on Signal Processing, Computational Geometry Artificial Vision. Rhodes, Greece: WSEAS, 2008: 215–220.

[16] [16] DOLGOV D, THRUN S, MONTEMERLO M, et al. Practical search techniques in path planning f autonomous driving[C]Proceedings of the First International Symposium on Search Techniques in Artificial Intelligence Robotics (STAIR08). Chicago, Illinois: AAAI, 2008: 32–37.

[17] FEDORENKO R, GURENKO B. Local and global motion planning for unmanned surface vehicle[J]. MATEC Web of Conferences, 42, 01005(2016).