Figure 4
From: Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm
The trajectory simulation in synthetic colon with (a) online BFS (b) online DFS (c) LRTA* method. The taken steps for online BFS, online DFS and LRTA* are 768, 200 and 75, respectively. The non-passable states and the passable states are represented in black and white, respectively. When the algorithm starts to explore, the state in each iteration and the trajectory between states are represented in orange and green, respectively. If the non-passable state is visited, the trajectory is shown in purple.
