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  ______   _    _              __   __   _____    
 /_   _// | || | ||   ____     \ \\/ // |  __ \\  
 `-| |,-  | || | ||  |    \\    \ ` //  | |  \ || 
   | ||   | \\_/ ||  | [] ||     | ||   | |__/ || 
   |_||    \____//   |  __//     |_||   |_____//  
   `-`'     `---`    |_|`-`      `-`'    -----`   
                     `-`

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Text this: An enhanced APF algorithm for complex obstacles and COLREGs in maritime navigation