IBRAHIM, Zahraa Y.; RASHID, Abdulmuttalib T.; MARHOON, Ali F. An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents. Iraqi Journal for Electrical and Electronic Engineering, [S. l.], v. 12, n. 2, p. 221–234, 2017. DOI: 10.37917/ijeee.12.2.13. Disponível em: https://ijeee.edu.iq/ijeee/article/view/227. Acesso em: 8 dec. 2025.