# Hybrid A-Star Path Planning Method Based on Hierarchical Clustering and Trichotomy
## 3 Hybrid A-Star Algorithm and Trichotomy Search
### Trichotomy Node Expansion Method
[CrossRef]
* (5) [PERSON]; [PERSON]; [PERSON] Research on Path Planning with the Integration of Adaptive A-Star Algorithm and Improved Dynamic Window Approach. _Electronics_**2024**, _13_, 455. [CrossRef]
* (6) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Voronoi path planning with improved skeleton extraction. _J. Mech. Eng._**2020**, _56_, 139-146. [CrossRef]
* (7) [PERSON]; [PERSON]; [PERSON] Improved bidirectional RRT* algorithm for robot path planning. _Sensors_**2023**, _23_, 1041. [CrossRef]
* (8) [PERSON]; [PERSON]; [PERSON]; [PERSON] On trajectory homotopy to explore and penetrate dynamically of multi-UAV. _IEEE Trans. Intell. Transp. Syst._**2022**, _23_, 24008-24019. [CrossRef]
* (9) [PERSON]; [PERSON]; [PERSON] Driving-behavior-oriented trajectory planning for autonomous vehicle driving on urban structural road. _Proc. Inst. Mech. Eng. Part D. J. Automob. Eng._**2021**, _235_, 975-995. [CrossRef]
* (10) [PERSON]; [PERSON]; [PERSON] Dynamic path planning of mobile robot based on improved simulated annealing algorithm. _J. Frankl. Inst._**2023**, _360_, 4378-4398. [CrossRef]
* (11) [PERSON]; [PERSON]; [PERSON] An intelligence-based hybrid PSO-SA for mobile robot path planning in warehouse. _J. Comput. Sci._**2023**, _67_, 101938-101955. [CrossRef]
* (12) [PERSON]; [PERSON]; [PERSON] Multi-robot path planning using learning-based artificial bee colony algorithm. _Eng. Appl. Artif. Intell._**2024**, _129_, 10759-107598. [CrossRef]
* (13) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Based on hybrid A* and variable radius RS curves Automatic parking path optimization method. _China J. Highu. Transp._**2022**, _35_, 317-327. [CrossRef]
* (14) [PERSON] Precise path planning and trajectory tracking based on improved A-star algorithm. _Meas. Control_**2024**, 1-13. [CrossRef]
* (15) [PERSON]; [PERSON]; [PERSON] Hierarchical Motion Planning Method Based on Hybrid A-star for Cruising in Parking Area. _J. Mech. Eng._**2023**, _59_, 290-298. [CrossRef]* _[PERSON] et al. (2021)_ [PERSON]; [PERSON]; [PERSON] Autonomous Parking Trajectory Planning with Tiny Passages: A Combination of Multistage Hybrid A-Star Algorithm and Numerical Optimal Control. _IEEE Access_**2021**, \(9\), 102801-102810. [CrossRef]
* _[PERSON] et al. (2022)_ [PERSON]; [PERSON]; [PERSON]; [PERSON] Improved analytic expansions in hybrid a-star path planning for non-holonomic robots. _Appl. Sci._**2022**, _12_, 5999. [CrossRef]
* _[PERSON] et al. (2022)_ [PERSON]; [PERSON]; [PERSON] Improved path planning algorithm of Hybrid A* towed mobile robot. _Electron. Meas. Technol._**2022**, _45_, 80-86. [CrossRef]
* _[PERSON] et al. (2022)_ [PERSON]; [PERSON]; [PERSON]; [PERSON] Research on route optimization of unmanned mining trucks based on hybrid A* algorithm. _Control Inf. Technol._**2022**, _479_, 60-67. [CrossRef]
* _[PERSON] et al. (2022)_ [PERSON]; [PERSON]; [PERSON]; [PERSON] Automatic parking path planning based on Reverse Hybrid A*. _J. Changchun Univ. Technol._**2022**, _43_, 627-633. * _[PERSON] et al. (2023)_ [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Improved hybrid A-star algorithm for path planning in autonomous parking system based on multi-stage dynamic optimization. _Int. J. Automot. Technol._**2023**, _24_, 459-468. [CrossRef]
* _[PERSON] et al. (2023)_ [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Path planning of Ackerman mobile robot based on improved Hybrid A* algorithm. _Modul. Mach. Tool Autom. Manuf. Tech._**2023**, \(8\), 122-126. [CrossRef]
* _[PERSON] et al. (2023)_ [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Research on improved hybrid A* optimal routing algorithm for automatic parking. _J. Shanxi Univ. Technol._**2023**, _39_, 1-7, 43. [CrossRef]
* _[PERSON] et al. (2023)_ [PERSON]; [PERSON]; [PERSON]; [PERSON] Trajectory generation of autonomous vehicle based on hybrid A* algorithm. _Automot. Dig._**2023**, \(2\), 44-54. [CrossRef]
* _[PERSON] and [PERSON] (2020)_ [PERSON]; [PERSON] Comparison and analysis of typical image edge detection operators. _J. Hebei Norm.