Table 2.

Global simulation parameters

Parameter description	Symbol	Unit	Value
Simulation time step	$\mathit{\Delta }t$	s	0.2
Simulated tank (square) side length	$L$	cm	120
Rounded edge circle radius	$r_c$	cm	10
Maximum turning speed variance	${\mathit{\sigma }}_0$	$\text{rad}{\text{s}}^{-1}$	12
Max. turning speed (cut-off)	n/a	$\text{rad}{\text{s}}^{-1}$	15
Wall avoidance function amplitude	$A$	$\text{rad}{\text{s}}^{-1}$	6.75
Wall avoidance function decay	$B$	cm	–0.11