# A Collision-free path planning approach based on rule guided lazy-PRM with repulsion field for gantry welding robots

> Research article (Robotics and Autonomous Systems, 2024) · cited 32× · AI/ML

**Wikidata**: [openalex:W4390987524](https://www.wikidata.org/wiki/openalex:W4390987524)  
**Source**: https://4ort.xyz/entity/a-collision-free-path-planning-approach-based-on-rule-guided-lazy-prm-with-repulsion-field-for-gantry-welding-robots