# A hierarchical global path planning approach for mobile robots based on multi-objective particle swarm optimization

> Research article (Applied Soft Computing, 2017) · cited 221× · AI/ML

**Wikidata**: [openalex:W2612102354](https://www.wikidata.org/wiki/openalex:W2612102354)  
**Source**: https://4ort.xyz/entity/a-hierarchical-global-path-planning-approach-for-mobile-robots-based-on-multi-objective-particle-swarm-optimization