The rising popularity of autonomous vehicles has spurred significant research interest in the maritime industry, particularly for developing maritime autonomous surface ships (MASS). An essential requirement of MASS is the ability to follow a pre-determined sea path, considering obstacles, water depth, and ship maneuverability.The rising popularity of autonomous vehicles has spurred significant research interest in the maritime industry, particularly for developing maritime autonomous surface ships (MASS). An essential requirement of MASS is the ability to follow a pre-determined sea path, considering obstacles, water depth, and ship maneuverability.Automotive[#item_full_content]