NPQ-RRT: An Improved RRT Approach to Hybrid Path Planning

Algorithm 1

PQ-RRT [25].

	Input: ;
	Output:
(1)	for i = 1 to n do
(2)	;
(3)	;
(4)	;
(5)	;
(6)	if CollisionFree() then
(7)	;
(8)	;
(9)	() ChooseParent();
(10)	;
(11)	;
(12)	;
(13)	end
(14)	end