@article{long_zuo_su_li_zhang_2020, author={Long, Yang and Zuo, Zheming and Su, Yixin and Li, Jie and Zhang, Huajun}, title={An A*-based Bacterial Foraging Optimisation Algorithm for Global Path Planning of Unmanned Surface Vehicles}, DOI={10.1017/S0373463320000247}, journal={Journal of Navigation}, publisher={Cambridge University Press}, year={2020}, volume={73}, number={6}, pages={1247–1262}}