The Path Optimization Algorithm of Car Navigation System considering Node Attributes under Time-Invariant Network

Algorithm 5

Relationship between modules.

	Initialization: , , , , for ,
	Result: A Sequence
	Main procedure
(1)	if
(2)	for
(3)	if
	% if directly performs node vv queue operation (i.e. Module 3)
(4)	execute Module 3;
(5)	if
(6)   execute Module 1;
(7)	else
(8)	execute Module 4;
(9)	else
(10)	execute Module 1;
	% perform the breadth-first search tree construction operation with as the root node
(11)	execute Module 2;
	% perform push and pop operations on the arcs on the breadth-first search tree constructed
(12)	execute Module 3
	% when all the arcs in the stack are popped out of the stack, perform the queue operation of node
(13)	if
(14)	execute Module 1;
	% if , enter the next loop of the algorithm, first perform the operation of building breadth-first search tree
(15)	else
(16)	execute Module 4;
	% if , the algorithm loop termination condition is met, execute the algorithm’s route output operation
(17)	else execute Module 4;
(18)	end.