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

Algorithm 2

RGD().

	Input: random point , target point
	Output: improved point
(1)	for n = 1 to z do
(2)
(3)	;
(4)	ifthen
(5)	return;
(6)	else
(7)	;
(8)	end
(9)	end