# A hybrid formation path planning based on A* and multi-target improved artificial potential field algorithm in the 2D random environments

> Research article (Advanced Engineering Informatics, 2022) · cited 80× · AI/ML

**Wikidata**: [openalex:W4301594642](https://www.wikidata.org/wiki/openalex:W4301594642)  
**Source**: https://4ort.xyz/entity/a-hybrid-formation-path-planning-based-on-a-and-multi-target-improved-artificial-potential-field-algorithm-in-the-2d-ran