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

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<g transform="matrix(.017,-0,0,-.017,.062,10.125)"><path d="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g>
</svg>, (b) <svg height="7.9499998" id="M344" style="vertical-align:-0.1254pt" version="1.1" viewbox="0 0 8.7250004 7.9499998" width="8.7250004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M483 97q-42 -50 -88.5 -79.5t-68.5 -29.5q-37 0 -17 93l22 102h-2q-54 -79 -144 -149q-59 -46 -100 -46q-24 0 -43 29t-19 86q0 78 34.5 153t94.5 120q41 31 94 51.5t98 20.5q29 0 72 -9q26 -6 39 -6l2 -4q-30 -117 -67 -323q-8 -41 2 -41q16 0 79 58zM374 387
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</svg>-<svg height="10.3875" id="M345" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 5.9250002 10.3875" width="5.9250002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,10.125)"><path d="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g>
</svg> in Section <a href="https://static.hindawi.com/articles/mpe/volume-2014/902587/figures/#sec5.2">5.2</a>.</table>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination 