Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm

Figure 16

Path planning ((, )=(800, 500)).

(a) Navigation with safe segments ((, )=(0, 0)).

(b) Navigation with safe segments ((, )=(400, 0)).

(c) Navigation with danger segments ((, )=(0, 0)).

(d) Navigation with danger segments ((, )=(400, 0)).