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第1期 吴青，等：自主水面货船研究现状与展望 ·69· sensors,and vehicles[J].Journal of field robotics,2010, [53]BUI V P,JI S W,JANG J S,et al.Ship trajectory track- 27(6):790-818 ing in harbour area by using autonomous tugboats[J]. 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Study of energy efficient navigation method for inland ship: a cruise ship case[C]//Proceedings of 2015 International Conference on Transportation Information and Safety. [61] 第 1 期 吴青，等：自主水面货船研究现状与展望 ·69·