Figure 11.

The successive locations of the robot (starting from ${\mathbf{p}}_{\mathrm{A}}={(0\mathrm{m},0\mathrm{m})}^T$) and obstacles outlining the paths taken by them during the scenario. Blue: obstacles ($B_1$ is a static obstacle at ${\mathbf{p}}_{\mathrm{B}1}={(4\mathrm{m},0\mathrm{m})}^T$. $B_2$ moves from ${(-2\mathrm{m},4\mathrm{m})}^T$ to ${(-0.5\mathrm{m},1\mathrm{m})}^T$. $B_3$ moves from ${(4\mathrm{m},3\mathrm{m})}^T$ to ${(-0.7\mathrm{m},-1.45\mathrm{m})}^T$. $B_4$ moves from ${(5\mathrm{m},-4\mathrm{m})}^T$ to ${(2\mathrm{m},-4\mathrm{m})}^T$.). Cyan: the robot using VO with the TG heuristic. Green: the robot using VO with the MV heuristic, identical with GAVO using $\beta =1$. Red: the robot using GAVO with $\beta =0.7$. Magenta: robot using GAVO with $\beta =0$. The target position is ${\mathbf{p}}_g={(9\mathrm{m},0\mathrm{m})}^T$.