Research Article

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

Table 1

Explanation of variables and functions in FindMinCost.

Variable/functionExplanation

kTraversal depth
laneNumThe 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