# Bi-Directional Adaptive A* Algorithm Toward Optimal Path Planning for Large-Scale UAV Under Multi-Constraints

> Research article (IEEE Access, 2020) · cited 81× · AI/ML

**Wikidata**: [openalex:W3018656899](https://www.wikidata.org/wiki/openalex:W3018656899)  
**Source**: https://4ort.xyz/entity/bi-directional-adaptive-a-algorithm-toward-optimal-path-planning-for-large-scale-uav-under-multi-constraints