# A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments

> Research article (IEEE Access, 2019) · cited 13× · AI/ML

**Wikidata**: [openalex:W2979290707](https://www.wikidata.org/wiki/openalex:W2979290707)  
**Source**: https://4ort.xyz/entity/a-multi-heuristic-a-algorithm-based-on-stagnation-detection-for-path-planning-of-manipulators-in-cluttered-environments