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Hierarchical collision-free trajectory planning for autonomous vehicles based on improved artificial potential field method

Ping Qin, Fei Liu, Zhizhong Guo, Zhe Li, Yuze Shang. Hierarchical collision-free trajectory planning for autonomous vehicles based on improved artificial potential field method. Trans. Inst. Meas. Control, 46(4):799-812, February 2024. [doi]

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