以深度优先搜索作为基本算法，用路径删除和结点删除方法产生多重解，用最小成本法求出最优解。
Based on depth first search, the article USES route deletion and node deletion methods to produce multi-solutions, and then determine the optimum solution with least costing.
本文分析、比较了现有的几种路径搜索算法，最后采用一种比较简单的单门限算法，并通过仿真得到参数最优值。
After analyzing and comparing some path search algorithms, the paper ultimately adopted a simple single threshold algorithm and attained optimal parameters through simulation.
针对现有大区域范围路径规划算法存在的一些问题，提出一种限制搜索区域的多比例尺最优路径规划算法。
In allusion to some problems of existing route planning algorithm of large area, a multi-scale optimal route planning algorithm within restricted searching area was proposed.
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