# Curvature continuous path planning and path finding based on PH splines with tension

> Research article (Computer-Aided Design, 2017) · cited 14× · AI/ML

**Wikidata**: [openalex:W2604342234](https://www.wikidata.org/wiki/openalex:W2604342234)  
**Source**: https://4ort.xyz/entity/curvature-continuous-path-planning-and-path-finding-based-on-ph-splines-with-tension