An MEC Architecture-Oriented Improved RRT Algorithm for Regional Trajectory Planning

Table 2

Explanation of variables and functions in the algorithm of improved RRT.

Variable/function	Explanation
T	The extended search tree
	Initial node, or the starting point of path planning
RandomSample	Function of random sampling
	Random points obtained by random sampling
Nearest	Function of finding the nearest point to in tree T
	The nearest point to
FindMinCost	Function of finding the minimum cost path
	The new node to be expanded in next step
InsertNode	Function of adding new nodes to the search tree