{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T22:27:30Z","timestamp":1768688850065,"version":"3.49.0"},"reference-count":24,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2019YFB1600602"],"award-info":[{"award-number":["2019YFB1600602"]}]},{"DOI":"10.13039\/501100005047","name":"Natural Science Foundation of Liaoning Province of China","doi-asserted-by":"publisher","award":["20180551040"],"award-info":[{"award-number":["20180551040"]}],"id":[{"id":"10.13039\/501100005047","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Key R&D Program of Liaoning Province of China","award":["2018228002"],"award-info":[{"award-number":["2018228002"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52071049"],"award-info":[{"award-number":["52071049"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["3132020128"],"award-info":[{"award-number":["3132020128"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/access.2021.3060150","type":"journal-article","created":{"date-parts":[[2021,2,20]],"date-time":"2021-02-20T10:18:36Z","timestamp":1613816316000},"page":"32613-32626","source":"Crossref","is-referenced-by-count":31,"title":["COLREGS-based Path Planning for Ships at Sea Using Velocity Obstacles"],"prefix":"10.1109","volume":"9","author":[{"given":"Wenjun","family":"Zhang","sequence":"first","affiliation":[{"name":"Navigation College, Dalian Maritime University, Dalian, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6498-4016","authenticated-orcid":false,"given":"Chengyong","family":"Yan","sequence":"additional","affiliation":[{"name":"Navigation College, Dalian Maritime University, Dalian, China"}]},{"given":"Hongguang","family":"Lyu","sequence":"additional","affiliation":[{"name":"Navigation College, Dalian Maritime University, Dalian, China"}]},{"given":"Pinglin","family":"Wang","sequence":"additional","affiliation":[{"name":"Navigation College, Dalian Maritime University, Dalian, China"}]},{"given":"Zongyao","family":"Xue","sequence":"additional","affiliation":[{"name":"Navigation College, Dalian Maritime University, Dalian, China"}]},{"given":"Zehua","family":"Li","sequence":"additional","affiliation":[{"name":"Navigation College, Dalian Maritime University, Dalian, China"}]},{"given":"Bai","family":"Xiao","sequence":"additional","affiliation":[{"name":"Dalian Port Pilot Station, Dalian, China"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2018.12.053"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463310000238"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2012.09.003"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2019.03.054"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.08.034"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2016.11.005"},{"key":"ref16","year":"1972","journal-title":"Convention on the International Regulations for Preventing Collisions at Sea"},{"key":"ref17","first-page":"85","author":"cockcroft","year":"2011","journal-title":"Guide to the Collision Avoidance Rules International Regulations for Preventing Collisions at Sea"},{"key":"ref18","article-title":"Research on automatic decision-making system of vessel collision avoidance","author":"zheng","year":"2000"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292038"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2012.2184949"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.7307\/ptt.v25i6.1183"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2015.01.008"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2011.09.012"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463318000796"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463314000708"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s00773-010-0106-x"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/s00773-010-0094-x"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2013.2254214"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700706"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354175"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543489"},{"key":"ref24","article-title":"Multi-contact protocol-constrained collision avoidance for autonomous marine vehicles","author":"woerner","year":"2016"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2120810"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9312710\/09357912.pdf?arnumber=9357912","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,8]],"date-time":"2022-09-08T20:54:29Z","timestamp":1662670469000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9357912\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":24,"URL":"https:\/\/doi.org\/10.1109\/access.2021.3060150","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}