Figure7
![A node selection algorithm to graph-based multi-waypoint optimization navigation and mapping](https://image.oaes.cc/b6bde10c-1a17-43d0-9758-88dabfd18e62/5170-7.jpg)
Figure 7. Illustration of the B-spline function. (A) The improved segmented B-spline curve. (B) The same path smoothed by the fundamental B-spline and the improved B-spline function.
Figure 7. Illustration of the B-spline function. (A) The improved segmented B-spline curve. (B) The same path smoothed by the fundamental B-spline and the improved B-spline function.
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