Figure4
![A node selection algorithm to graph-based multi-waypoint optimization navigation and mapping](https://image.oaes.cc/b6bde10c-1a17-43d0-9758-88dabfd18e62/5170-4.jpg)
Figure 4. Illustration of ANS method within a more specific sense, where an obstacle obstructing the connection path. (A) The multiple connection paths have been obstructed by the obstacles. (B) It selects the nodes in the defined range. (C) It conducts IPSO point-to-point algorithm to achieve the optimal path to the selected node.