# A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm

> Research article (Engineering Optimization, 2017) · cited 14× · AI/ML

**Wikidata**: [openalex:W2583248424](https://www.wikidata.org/wiki/openalex:W2583248424)  
**Source**: https://4ort.xyz/entity/a-two-stage-path-planning-approach-for-multiple-car-like-robots-based-on-ph-curves-and-a-modified-harmony-search-algorit