Table 3: Multiple 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 𝑣 𝑜 𝑏 1 𝑤 𝜃 𝑣 𝑜 𝑏 1 𝑤 𝑥 𝑜 𝑏 2 𝑤 𝑦 𝑜 𝑏 2 𝑤 𝑣 𝑜 𝑏 3 𝑤 𝜃 𝑣 𝑜 𝑏 3

0.650.12.81.90.621.20.48 0 . 7 8 𝜋 1.81.10.3 1 . 3 4 𝜋