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. Author manuscript; available in PMC: 2010 May 7.
Published in final edited form as: Robotica. 2008 Apr 11;26:419–434. doi: 10.1017/S0263574708004475

Fig. 5.

Fig. 5

Path planning for the kinematic cart using many sample path: (a) Cart path for the goal, (x, y, θ) = (2, 0.5, π/4) (b) Cart path for the goal, (x, y, θ) = (2, 0.5, π/4), the obstacle position = (1, 0) and the obstacle radius = 0.25.