Figure 5: Observation, path prediction, and path planning. A is the object. B, C, D, and E are the obstacles. (a) Motions observation and region division of the obstacles. (b) Path prediction based on observed points. (c) Path judgment and selection based on convex polygons formed by the object A′ and obstacles B′, C′, and D′. (d) Planning feasible paths and the optimized path.