# Optimization-Based Trajectory Planning for Autonomous Parking With Irregularly Placed Obstacles: A Lightweight Iterative Framework

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2021) · cited 173× · AI/ML

**Wikidata**: [openalex:W3198919602](https://www.wikidata.org/wiki/openalex:W3198919602)  
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