Figure4
![Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects](https://image.oaes.cc/d2072f93-382c-47f8-b11d-89a475d1f391/5032-4.jpg)
Figure 4. Path derived by the APF method on the 2D modeling map: (A) path planning based on the distribution of the APF on the map; (B) APF path on the contour map; and (C) final APF path presented on the 2D modeling map [42].
Figure 4. Path derived by the APF method on the 2D modeling map: (A) path planning based on the distribution of the APF on the map; (B) APF path on the contour map; and (C) final APF path presented on the 2D modeling map [42].
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