Survey of Robot 3D Path Planning Algorithms

Algorithm 2

Explore RRG ().

Steer() returns a point closer to but within the reach of by a certain value;

( return all vertices in a ball center at and radius is ;

( means no obstacle between , ;

(1) ;

(2) ()

(3) ()

(4) if ()

(5)    

(6)    ,

(7)    

(8)    while

(9)    if

(10)    ,

(11)    End

(12)   End

(13) End

Return