1.0
(a)
0.8
0.6
0.6
m(.)
0.8
0.4 1
0.0 0
0.4
0.0
d/m
-0.2
2
1
0.0 0
0.2 1
0.2 0.0
1
y-axis/m
d/m
-0.4
3
-0.2
2 3
1.0 1.0
(b)
0.2
0.2
y-axis/m
-0.4
(d)
0.8 (c) m(.)
0.8 m(.)
m(.)
1.0
0.6
0.6 0.4 0.2
0.4 0.2 1
0.0 0
0.2 1 d/m
0.0 -0.2
2 3
-0.4
y-axis/m
0.0 1 0.2
3
0.0 -0.2 y-axis/m
2 1 -0.4
0
d/m
(a)
1
(b)
1
B 1
C A
(a)
m(θ 2)≥0.9 0.51≤m(θ 2)≥0.89 m(θ 2)≥0.5
(b)
(c)
Robot Target goal Moving object
(a)
(b) Real path
Planned path
Robot
(c)
(d)
(e)
(f)
Real path