842107.fig.0020a
(a)
842107.fig.0020b
(b)
Figure 20: Waypoint navigation outermost and innermost path when mobile sensor speed is (a) 100 mm/s, and (b) 400 mm/s. The dotted line represents the desired path. Waypoints are marked , and the the surrounding circles represent the waypoint range of (a) 2 m and (b) 3 m.