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. 2016 Jan 15;16(1):102. doi: 10.3390/s16010102
Algorithm 2. Post-Processing Method

  1. Q ← Pruning (T);

  2. S ← Cubic_Bspline (Q);

  3. Return S

Function Pruning (T)

  1. T ← obtained from DV-RRT;

  2. Var Q1, Q2: Path

  3. Q1 (q0, q1, q2, …, qn) ← Path (T);

  4. qtemp ← q0; Q2 Add_Node (q0);

  5. while qtemp! = qn do

  6. for each node qi ∈ Q1

  7. if Collision (qtemp, qi) then

  8. qtemp ← qi; Q2 Add_Node (qtemp);

  9. break

  10. end if

  11. end for

  12. Q2 Add_Node (qn);

  13. end while

  14. Return Q2;