The algorithm uses the thought of delamination, makes local planning and global planning combination, and improves cost function, finally with ensuring optimal trajectory increases search efficiency.
该算法采用分层思想，将局部规划与全局规划相结合，并对代价函数进行了改进，在保证航迹优化的基础上，提高了搜索效率。
The algorithm uses the thought of delamination, makes local planning and global planning combination, and improves cost function, finally with ensuring optimal trajectory increases search efficiency.
该算法采用分层思想，将局部规划与全局规划相结合，并对代价函数进行了改进，在保证航迹优化的基础上，提高了搜索效率。
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