An MEC Architecture-Oriented Improved RRT Algorithm for Regional Trajectory Planning

Algorithm 1

Description of FindMinCost.

(1)	function FindMinCost
(2)	fordo
(3)	fordo
(4)	ifthen
(5)
(6)
(7)	end if
(8)	end for
(9)	end for
(10)
(11)	end function.