# Tractor-Trailer Vehicle Trajectory Planning in Narrow Environments With a Progressively Constrained Optimal Control Approach

> Research article (IEEE Transactions on Intelligent Vehicles, 2019) · cited 99× · AI/ML

**Wikidata**: [openalex:W2995254745](https://www.wikidata.org/wiki/openalex:W2995254745)  
**Source**: https://4ort.xyz/entity/tractor-trailer-vehicle-trajectory-planning-in-narrow-environments-with-a-progressively-constrained-optimal-control-appr