Research Article
An MEC Architecture-Oriented Improved RRT Algorithm for Regional Trajectory Planning
Table 1
Explanation of variables and functions in FindMinCost.
| Variable/function | Explanation |
| k | Traversal depth | laneNum | The number of lanes | | Connection of grid i to j | Obstaclefree | Function for detecting collisions | FeasibleFree | Function for judging the reachability of grids i to j at | | Set of reachable path points | ChooseMinIsingRisk | Function for selecting the path with minimum cumulative cost | | The set of points on the minimum cost path | ChooseNextPoint | Select the next extension point from the set | | The extended new node |
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