@article{Xie-2019-914,
  author = {Xie, L and Xue, S and Zhang, J and Zhang, M and Tian, W and Haugen, S},
  title = {A path planning approach based on multi-direction A* algorithm for ships navigating within wind farm waters},
  journal = {Ocean Engineering},
  year = {2019},
  month = {jun},
  publisher = {Elsevier},
  volume = {184},
  pages = {311--322},
  doi = {10.1016/j.oceaneng.2019.04.055},
  url = {https://www.sciencedirect.com/science/article/pii/S0029801818318365},
  keywords = {Wind Energy, Fixed Offshore Wind, Navigation, Human Dimensions},
}