NPQ-RRT<span class="nowrap"><svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06570053pt" id="M1" height="13.4011pt" version="1.1" viewBox="-0.0657574 -13.3354 8.15587 13.4011" width="8.15587pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><path id="g50-43" d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"/></g></svg>:</span> An Improved RRT<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06570053pt" id="M2" height="13.4011pt" version="1.1" viewBox="-0.0657574 -13.3354 8.15587 13.4011" width="8.15587pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><use xlink:href="#g50-43"/></g></svg> Approach to Hybrid Path Planning

<div>The positions of the robots: <svg height="8.02022pt" id="M280" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -7.81382 4.54925 8.02022" width="4.54925pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z"></path></g></svg> = 20s.</div>

Complexity

fig15

Figure 15

Figure 15: NPQ-RRT<span class="nowrap"><svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06570053pt" id="M1" height="13.4011pt" version="1.1" viewBox="-0.0657574 -13.3354 8.15587 13.4011" width="8.15587pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><path id="g50-43" d="M486 158C486 177 478 202 466 220C413 228 386 236 336 262C386 288 413 297 466 304C478 323 486 347 485 366C470 376 444 381 422 380C389 338 368 319 321 288C323 345 329 372 349 422C339 442 322 461 305 470C289 461 271 442 262 422C281 372 287 345 290 288C243 319 222 338 189 380C167 381 142 376 125 366C125 347 133 322 145 304C198 296 225 288 275 262C225 236 198 227 145 220C133 201 125 177 126 158C141 148 167 143 189 144C222 186 243 205 290 236C288 179 282 152 262 102C272 82 289 63 306 54C322 63 340 82 350 102C330 152 324 179 321 236C368 205 390 186 422 144C444 143 470 148 486 158Z"/></g></svg>:</span> An Improved RRT<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06570053pt" id="M2" height="13.4011pt" version="1.1" viewBox="-0.0657574 -13.3354 8.15587 13.4011" width="8.15587pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><use xlink:href="#g50-43"/></g></svg> Approach to Hybrid Path Planning 

Complexity

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

Figure 15