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. 2022 Nov 28;22(23):9269. doi: 10.3390/s22239269
Algorithm 2 Pseudocode for the path planning
  • 1:

    Input: spanningTree, currentPose

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    Output: RSTCpath

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    while it reaches the starting subcell again do

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        calculate the direction of the spanning tree form current cell to the next first neighbor which is connected with the edge in the spannning tree

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        mark current subcell as visited

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        add subcell center coordinates in the queue RSTCpath

  • 7:

        go to neighbor cell

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        if dynamic obstacle is detected then

  • 9:

            end the path planning algorithm

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       end if

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    end while

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    return the RSTC path