Multi-hierarchy hexagonal grid traffic model for off-road path planning
CHEN Zhanlong, WU Beibei, WANG Run, DAI Weiwei, XU Daozhu, MA Chao
Acta Geodaetica et Cartographica Sinica . 2023, (9): 1562 -1573 .  DOI: 10.11947/j.AGCS.2023.20220159