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Chenguang Liu 1 , Qingzhou Mao 2,* , Xiumin Chu 3 and Shuo Xie 3 1 State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China; cgliu@whu.edu.cn 2 School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China 3 National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China; chuxm@whut.edu.cn (X.C.); xieshuo@whut.edu.cn (S.X.) * Correspondence: qzhmao@whu.edu.cn

An Improved A-Star Algorithm Considering Water Current, Traffic Separation and Berthing for Vessel Path Planning