Edwin S. H. Hou, Dan Zheng. Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields. J. Field Robotics, 11(7):605-614, 1994. [doi]
@article{HouZ94,
title = {Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields},
author = {Edwin S. H. Hou and Dan Zheng},
year = {1994},
doi = {10.1002/rob.4620110704},
url = {http://dx.doi.org/10.1002/rob.4620110704},
researchr = {https://researchr.org/publication/HouZ94},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {11},
number = {7},
pages = {605-614},
}