Figure 1.

An example of the VO method for a robot at position ${\mathbf{p}}_{\mathrm{A}}$ navigating an environment consisting of a moving obstacle $B_1$ at position ${\mathbf{p}}_{\mathrm{B}1}$ with velocity ${\mathbf{v}}_{\mathrm{B}1}$ and a static obstacle $B_2$ at ${\mathbf{p}}_{\mathrm{B}2}$. The gray area illustrates $VO=V{O}_1\cup V{O}_2$.