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Path planning for the kinematic cart using many sample paths: (a) Cart path for the goal, (x, y, θ) = (1.6, 1.6, π/3) (b) Cart path for the goal, (x, y, θ) = (1.6, 1.6, π/3), the obstacle position = (0.75, 0.75) and the obstacle radius = 0.25.
