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

Table 3

Center coordinates of obstacles ((, )=(500, 750)).

Obstacles
Obstacle 1	550	100
Obstacle 2	640	400
Obstacle 3	640	600
Obstacle 4	400	500
Obstacle 5	240	550
Obstacle 6	100	420
Obstacle 7	150	250