Intelligent Optimization Algorithm-Based Path Planning for a Mobile Robot

Algorithm 2 Smooth RRT.

Input: Map,
Result: A smooth path for
	(1): Function Smooth
	(2):      .denoise ();
	(3):   for to do
	(4):     if Collision then
	(5):       ← Parent ;
	(6):     if Collision then
	(7):       ← Parent ;
	(8):       ← Parent ;
	(9):      ← Edge ;
	(10):    .addEdge ;
	(11):    ← ;
	(12):  Extend (, );
	(13):    Smooth success ()
	(14): Return Smooth