# UAV trajectory planning based on bi-directional APF-RRT* algorithm with goal-biased

> Research article (Expert Systems with Applications, 2022) · cited 167× · AI/ML

**Wikidata**: [openalex:W4308310328](https://www.wikidata.org/wiki/openalex:W4308310328)  
**Source**: https://4ort.xyz/entity/uav-trajectory-planning-based-on-bi-directional-apf-rrt-algorithm-with-goal-biased