Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

Figure 7

Planned paths of 𝐴₁ and 𝐴₂ with different time intervals in Section 5.2. (a) In [0, 2.1], (b) in [2.1, 4], (c) in [4, 10], and (d) in [0, 10].

(a)

(b)

(c)

(d)