# Enhanced Center Constraint Weighted A* Algorithm for Path Planning of Petrochemical Inspection Robot

> Research article (Journal of Intelligent & Robotic Systems, 2021) · cited 46× · AI/ML

**Wikidata**: [openalex:W3182233962](https://www.wikidata.org/wiki/openalex:W3182233962)  
**Source**: https://4ort.xyz/entity/enhanced-center-constraint-weighted-a-algorithm-for-path-planning-of-petrochemical-inspection-robot