Figure15
![A node selection algorithm to graph-based multi-waypoint optimization navigation and mapping](https://image.oaes.cc/b6bde10c-1a17-43d0-9758-88dabfd18e62/5170-15.jpg)
Figure 15. Illustration of the navigation and mapping ability of the proposed model. (A) The robot follows the generated trajectory and detects obstacle boundaries by the LiDAR sensor. (B) The simultaneous map building and navigation capabilities of the proposed model. (C) The fully generated trajectory and established map.