# Flexible unit A-star trajectory planning for autonomous vehicles on structured road maps

> Research article (2017 IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2017) · cited 49× · AI/ML

**Wikidata**: [openalex:W2739579981](https://www.wikidata.org/wiki/openalex:W2739579981)  
**Source**: https://4ort.xyz/entity/flexible-unit-a-star-trajectory-planning-for-autonomous-vehicles-on-structured-road-maps