VO	velocity obstacle shape
$\mathbf{p}$	position vector
$\mathbf{v}$	velocity vector
$v_{max}$	length of the maximum velocity vector
r	length of velocity vector
$T_{max}$	maximum time interval
$t_{mi{n}_{A,Bi}}$	minimum time at the filtering method when the agent and the obstacle are at the closest points to each other
$d_{max}$	maximum distance
$d_{mi{n}_{A,Bi}}$	minimum distance between the agent and the obstacle during their motion
$GO$	speed component of the fitness function
$SA$	safety component of the fitness function
$\theta$	angle of a vector
$\Delta \theta$	difference between the angle of the goal and the angle of the velocity vector
f	fitness function
$\beta$	parameter in the fitness function which shows the impact of the safety
$\kappa$	random parameter