Survey of Robot 3D Path Planning Algorithms

Algorithm 3

.

, , are the same as RRG;

returns the parent vertex of ;

(1) ;

(2) 

(3) 

(4) if

(5)    

(6)    ,

(7)    

(8)    while all

(9)    if and

(10)     

(11)      ;

(12)     End; END;

(13)

(14) while all ∖

(15)   if and

(16)  

(17)  ;

(18)   ∖

(19)   

(20)  End

(21) End

Return