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

Table 5

Center coordinates of obstacles ((, )=(800, 500)).

Obstacles
Obstacle 1	550	240
Obstacle 2	550	400
Obstacle 3	540	510
Obstacle 4	400	510
Obstacle 5	200	560
Obstacle 6	150	430
Obstacle 7	150	260