Research Article
Constraint Satisfaction for Motion Feasibility Checking
Algorithm 2
Limited forward checking.
| function LFC (csp = (V, D, C), var, assignment) returns false if inconsistency is found and true otherwise, and update domain of neighbors | | neighbors = all_neighbors (csp, var) | | while neighbors is not empty do | | Ni = neighbors.pop | | if revise (Ni, csp, assignment) | | if D (Ni) is empty then | | return false | | end if | | end if | | end while | | return true | | function revise (Ni, csp, assignment) return true if the domain of Ni is changed is Revised = false | | for each val in D (Ni) | | if val is inconsistent in pose constraints with assignment then remove val from D (Ni) is Revised = true | | end if | | end for |
|
