# Path planning for mobile robots in unstructured orchard environments: An improved kinematically constrained bi-directional RRT approach

> Research article (Computers and Electronics in Agriculture, 2023) · cited 127× · AI/ML

**Wikidata**: [openalex:W4389206703](https://www.wikidata.org/wiki/openalex:W4389206703)  
**Source**: https://4ort.xyz/entity/path-planning-for-mobile-robots-in-unstructured-orchard-environments-an-improved-kinematically-constrained-bi-directiona