Journal of Robotics / 2018 / Article / Fig 7

Research Article

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

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