# Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

> Research article (Sensors, 2022) · cited 39× · AI/ML

**Wikidata**: [openalex:W4306835713](https://www.wikidata.org/wiki/openalex:W4306835713)  
**Source**: https://4ort.xyz/entity/local-path-planning-of-autonomous-vehicle-based-on-an-improved-heuristic-bi-rrt-algorithm-in-dynamic-obstacle-avoidance-