Table 1: Static obstacle-avoidance simulation data.

𝑤 𝑥 𝑟 𝑏 𝐴 𝑤 𝑦 𝑟 𝑏 𝐴 𝑤 𝑥 𝑟 𝑏 𝐵 𝑤 𝑦 𝑟 𝑏 𝐵 𝑙 ̇ 𝑥 𝑟 𝑏 𝑙 ̈ 𝑥 𝑟 𝑏 𝑤 𝑥 𝑜 𝑏 𝑤 𝑦 𝑜 𝑏

0.950.050.050.90.61.50.440.6