Table 3: ZIL 131 motion parameters.

Target 𝑥 0 (m) 𝑦 0 (m) Velocity (m/s) Direction ( )

1 90 279 5 10
2 110 282 5 10
3 75 245 40 −86
4 82 215 40 −86
5 55 275 0 N.A.