# Implementing Voronoi-based Guided Hybrid A* in Global Path Planning for Autonomous Vehicles

> Research article (2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W2990250652](https://www.wikidata.org/wiki/openalex:W2990250652)  
**Source**: https://4ort.xyz/entity/implementing-voronoi-based-guided-hybrid-a-in-global-path-planning-for-autonomous-vehicles