# A smooth path planning method for mobile robot using a BES-incorporated modified QPSO algorithm

> Research article (Expert Systems with Applications, 2022) · cited 46× · AI/ML

**Wikidata**: [openalex:W4287511621](https://www.wikidata.org/wiki/openalex:W4287511621)  
**Source**: https://4ort.xyz/entity/a-smooth-path-planning-method-for-mobile-robot-using-a-bes-incorporated-modified-qpso-algorithm