A discrete cost functional must be derived from the continuous cost
functional, (8.39). The final term is just assigned as
. The cost at each stage is
|
(8.65) |
and
is used in the place of
in
(8.56). For many problems, the integral does not need to
be computed repeatedly. To obtain Euclidean shortest paths,
can be safely assigned for all
and
. A reasonable approximation to
(8.65) if is small is
.
Steven M LaValle
2020-08-14