The International Journal of Fuzzy Logic and Intelligent Systems

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Fig. 2.

Summary of the post triangular rewiring method: (a) When line segment γ with node q0 and its grandparent node q2 in tree R is free from obstacle collision (Distance: γ < α+ β), (b) Grandparent node q2 of node q0 is connected as the parent node of node q0, and parent node q1 is deleted from the tree.

International Journal of Fuzzy Logic and Intelligent Systems 2021;21:213~221 https://doi.org/10.5391/IJFIS.2021.21.3.213
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