In the traditional rapidly exploring random tree (RRT) algorithm, planned path is not smooth, distance long, and fault tolerance rate of low. Disturbances in an environment can cause unmanned surface vessels (USVs) to deviate from their during navigation. Therefore, this paper proposed a path-planning method considering environmental disturbance based on virtual potential field RRT* (VPF-RRT*)....

increasing global notices in environmental protection, green supply chain management (gscm) has received much attention by researchers and managers more than the past. commonly, firms have considered cost criteria to select their suppliers. despite the fact that there are various papers considering the formal criteria in supplier selection, there is a few limited numbers considering the environ...