中文
Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy
TANG Ping-peng1, ZHANG Ru-bo1, SHI Chang-ting1, YANG Ge1, LIU De-li2
Journal of Applied Sciences . 2013, (4): 418 -426 .  DOI: 10.3969/j.issn.0255-8297.2013.04.013