SN-BI-RRT*: Bidirectional Exploratory Random Tree Algorithm Based on Dynamic Gradient and Artificial Potential Field
HUANG Yourui, ZHU Zhongtao, HAN Tao
Computer Engineering and Applications . 2025, (24): 116 -133 .  DOI: 10.3778/j.issn.1002-8331.2506-0280

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