# UAV Path Planning Based on Random Obstacle Training and Linear Soft Update of DRL in Dense Urban Environment

> Research article (Energies, 2024) · cited 15× · AI/ML

**Wikidata**: [openalex:W4399364959](https://www.wikidata.org/wiki/openalex:W4399364959)  
**Source**: https://4ort.xyz/entity/uav-path-planning-based-on-random-obstacle-training-and-linear-soft-update-of-drl-in-dense-urban-environment