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. 2015 Dec 26;16(1):24. doi: 10.3390/s16010024

Figure 9.

Figure 9

Snapshots of the real time experiment of one robot and one obstacle. (a) The beginning of the real time experiment; (b) The robot detects an obstacle on its way; (c) The robot avoids the obstacle and turns left; (d) The robot finds its path again and continues following it.