Research Article
Constraint Satisfaction for Motion Feasibility Checking
Algorithm 1
Backtracking with propagation.
function BWP (assignment = {}, csp= (V, D, C)) returns a solution or failure | if assignment is complete then return assignment end if | var = ordered_unassigned_variable (V) | for each val in D (var) | if val is consistent with assignment then | add {var = val} to assignment | result = forward_checking (csp, var, assignment) | if result is failure then return failure end if | add neighbors to assignment | result = BWP (assignment, csp) | if result is not failure then return result end if | remove {var = value} from assignment | end if | end for | return failure |
|