LISTING 1. Pseudocode for the simple smoothing algorithm. The smoothing algorithm simply checks from waypoint to waypoint along the path, trying to eliminate intermediate waypoints when possible.

• 表1。简单的平滑算法的伪代码。平滑算法简单的检查了路径上面的关键点，试图在其需要的时候消除中间的关键点。