Autonomic Obstacle Detection and Avoidance in MANETs Driven by Cartography Enhanced OLSR

Table 1

Obstacle detection parameters leading to the best performance.

Obstacle type	Obstacle size	Speed		MaxAngleAperture	MaxToleratedFarness	PercentageOfFilteredInformation
Hexagone	Small	5	6	5	45	6	8
Hexagone	Medium	2	6	5	45	6	8
Hexagone	Medium	5	6	5	45	6	6
Hexagone	Medium	10	6	5	45	6	6
Hexagone	Large	5	9	5	5	6	6
Concave	Medium	5	9	5	5	2	8