“…Secondly, the search platform takes the first optional path point as the starting point for the second step of the search path planning. At this time, the optional path point set Z P 2 is g (2,4) , g (2,2) , g (1,3) , g (3,3) , g (1,1) , g (3,1) , g (4,2) } and all the optional search path sets Z R 2 are g (2,2) , g (2,3) (3,2) , g (4,2) }}. Among all the optional search path sets Z R 2 , some search paths contain duplicate path points whose weights can only be calculated once.…”