And the feasible path was obtained by using RRT algorithm to perform random search of path node.
采用RRT算法，通过随机搜索路径节点，得到可行姿态路径。
Each step in the location path navigates from one node to a related set of nodes.
位置路径中的每个步骤都从一个节点浏览到一组相关的节点。
This is done to maintain the uniqueness of the path in multiple logical node configurations.
这样做是为了维护多逻辑节点配置中路径的惟一性。
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