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The most common of these in the field of robot path planning is simulated annealing. Simulated annealing is a method for approximating the global minimum of a generated path geometry function over a large search space possessing non-linearity and discontinuity ( Martínez-Alfaro and Gómez-García 1998 ).

https://www.sciencedirect.com/science/article/pii/B9781845697860500198

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