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Route Planning Graph Theory Figure 6.3: 3 situations that vehicle can’t reach the destination. In Fig. 6.3 on the left is shown that the charging station is too far from the start position and the vehicle can’t continue in the trip. r < d1 In Fig. 6.3 in the middle can be seen that there could be reached charging station from start and destination, but the destination between them is too far and the vehicle can’t continue. r < d5 In Fig. 6.3 on the right shows us that there is no charging station near by destination. r < d2 6.3 Graph Theory Graph is a set of finite vertices and edges between them. We can define graph as following equation: G = (V,E) 24PDF Image | Driving Range Estimation and Trajectory Planning
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