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Research Article

A multi-scale path-planning method for large-scale scenes based on a framed scale-elastic grid map

Yuekun Suna Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Xiaochong Tonga Information Engineering University, Zhengzhou, People’s Republic of ChinaCorrespondence[email protected] [email protected]
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Yi Leia Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Congzhou Guoa Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Yaxian Leia Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Haoshuai Songa Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Zige Ana Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Jiayi Tanga Information Engineering University, Zhengzhou, People’s Republic of ChinaView further author information

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Yibo Wub Zhengzhou Xinda Institute of Advanced Technology, Zhengzhou, People’s Republic of ChinaView further author information