Reactive Path Planning Approach for Docking Robots in Unknown Environment

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Approach </td><td class="align_center">Final pose</td><td class="align_center">Reach time</td><td class="align_center"><span style="width: 32.7695ptpx;"><svg height="16.9586pt" id="M444" style="vertical-align:-2.150599pt" version="1.1" viewbox="-0.0498162 -14.808 32.7695 16.9586" width="32.7695pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M162 -163V703H101V-163H162Z" id="g113-9"></path></g><g transform="matrix(.013,0,0,-0.013,3.419,0)"><path d="M162 -163V703H101V-163H162Z" id="g113-9"></path></g><g transform="matrix(.013,0,0,-0.013,6.838,0)"><path d="M600 0V24L339 665L311 657L43 24V0H600ZM497 50H107L303 539L497 50Z" id="g113-133"></path></g><g transform="matrix(.013,0,0,-0.013,15.165,-8.586)"><path d="M567 230V280H69V230H567Z" id="g117-149"></path></g><g transform="matrix(.013,0,0,-0.013,13.264,-8.586)"><path d="M901 255C861 290 790 361 716 442L694 427L796 280H69V230H796L694 83L716 68C790 149 861 220 901 255Z" id="g117-148"></path></g><g transform="matrix(.013,0,0,-0.013,15.828,0)"><path d="M697 650H468L461 623L492 619C539 613 547 605 518 546C481 471 367 264 278 116H276C239 278 197 500 186 567C180 604 185 613 226 619L252 623L260 650H24L17 623C78 617 92 613 108 533L216 -11H247C365 200 515 462 560 529C616 612 624 615 689 623L697 650Z" id="g113-87"></path></g><g transform="matrix(.013,0,0,-0.013,25.743,0)"><path d="M162 -163V703H101V-163H162Z" id="g113-9"></path></g><g transform="matrix(.013,0,0,-0.013,29.162,0)"><path d="M162 -163V703H101V-163H162Z" id="g113-9"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">APF</td><td class="align_center"><span style="width: 5.47571ptpx;"><svg height="11.439pt" id="M445" style="vertical-align:-2.15067pt" 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Journal of Advanced Transportation

tab4

Table 4

Table 4: Reactive Path Planning Approach for Docking Robots in Unknown Environment 