Path Planning with Obstacle Avoidance Based on Normalized R-Functions

Figure 7

Planning path with obstacle avoidance for a single-point moving part.

(a) Obstacle avoidance planning environments

(b) A planning path for O₅’s arc c with 4 discrete straight-line segments

(c) A planning path for O₅’s arc c with 6 discrete straight-line segments

(d) Normalized functions of obstacles affect the iteration direction