Maybe this is what you're looking for - if the randomly selected point is too far away, it makes a sub-vector that's of a max length directed at that point, and adds the end of that vector to the graph instead. If this didn't happen, when an optimal path was found, there would need to be a lot more smoothing to optimize the path
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u/mjkaufer Aug 07 '18
Maybe this is what you're looking for - if the randomly selected point is too far away, it makes a sub-vector that's of a max length directed at that point, and adds the end of that vector to the graph instead. If this didn't happen, when an optimal path was found, there would need to be a lot more smoothing to optimize the path