Self-optimization A-Star algorithm for UAV path planning based on Laguerre diagram
WEI Rui-xuan, XU Zhuo-fan, WANG Shu-lei, Lv Ming-hai
Systems Engineering and Electronics . 2015, (3): 577 -582 .  DOI: 10.3969/j.issn.1001-506X.2015.03.16