# Hierarchical collision-free trajectory planning for autonomous vehicles based on improved artificial potential field method

> Research article (Transactions of the Institute of Measurement and Control, 2023) · cited 31× · AI/ML

**Wikidata**: [openalex:W4385254077](https://www.wikidata.org/wiki/openalex:W4385254077)  
**Source**: https://4ort.xyz/entity/hierarchical-collision-free-trajectory-planning-for-autonomous-vehicles-based-on-improved-artificial-potential-field-met