LaTeX BibTeX References with URLs

example-bib.bib

@article{dolgov_path_2010,
	title = {Path {Planning} for {Autonomous} {Vehicles} in {Unknown} {Semi}-structured {Environments}},
	volume = {29},
	issn = {0278-3649},
	url = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364909359210},
	doi = {10.1177/0278364909359210},
	language = {en},
	number = {5},
	urldate = {2015-01-27},
	journal = {The International Journal of Robotics Research},
	author = {Dolgov, D. and Thrun, S. and Montemerlo, M. and Diebel, J.},
	month = apr,
	year = {2010},
	keywords = {thesis},
	pages = {485--501},
	file = {2010_-_Dolgov_et_al._-_Path_Planning_for_Autonomous_Vehicles_in_Unknown_Semi-structured_Environments.pdf:/fzi/ids/hammann/.mozilla/firefox/0xoal4ud.default/zotero/storage/HFHZRSJT/2010_-_Dolgov_et_al._-_Path_Planning_for_Autonomous_Vehicles_in_Unknown_Semi-structured_Environments.pdf:application/pdf}
}

example.tex

\documentclass{article}

\usepackage[square,numbers]{natbib}
\usepackage[raiselinks=true,
            bookmarks=true,
            bookmarksopenlevel=1,
            bookmarksopen=true,
            bookmarksnumbered=true,
            hyperindex=true,
            plainpages=false,
            pdfpagelabels=true,
            pdfborder={0 0 0.5}]{hyperref}
\bibliographystyle{plainnat}

\title{BibTeX Website citations with the \textsf{natbib} package}

\begin{document}

\maketitle
\nocite{dolgov_path_2010}
\bibliography{example-bib}

\end{document}