Shi, Yan, Lihua Zhang, and Shouquan Dong. “Path Planning of Anti Ship Missile Based on Voronoi Diagram and Binary Tree Algorithm”. Defence Science Journal 69, no. 4 (July 15, 2019): 369-377. Accessed April 26, 2024. https://publications.drdo.gov.in/ojs/index.php/dsj/article/view/14062.