Figure3
![A node selection algorithm to graph-based multi-waypoint optimization navigation and mapping](https://image.oaes.cc/b6bde10c-1a17-43d0-9758-88dabfd18e62/5170-3.jpg)
Figure 3. Details of the Adjacent Node Selection (ANS) algorithm. (A) The IPSO-based connection path planning in the search range. (B) The search range determination and node selection inside. (C) The final generated path with the minimum path length.