“Heuristic D* Algorithm Based on Particle Swarm Optimization for Path Planning of Two-Link Robot Arm in Dynamic Environment”. Al-Khwarizmi Engineering Journal 15, no. 2 (May 28, 2019): 108–123. Accessed November 22, 2024. https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/551.