A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

Figure 9

Comparison of the predicted path and the real moving path with noises for 20 points in the future. (a) Straight line: and . (b) Circle curve: , , and . (c) Combined curve: and , . Subfigures (d), (e), (f), (g), (h), and (i) show the similarity degrees of 20 experiments for each prediction. In subfigures, the value of is the similarity degree of the last predicted point. and are the average values of SSI and , respectively.

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