A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots. - Han-Pang Huang; Pei-Chien Lee (Robotica, 1992)

Development of an Efficient and suboptimal obstacle avoidance Algorithm for Planar robots. - Han-Pang Huang; Pei-Chien Lee (Robotics, Mechatronics and Manufacturing Systems, 1993)