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Simulation snapshots at various times. (a) The beginning of the simualtion; (b) The robot detects an obstacle and turns left; (c) The robot moves around the obstacle; (d) The robot between multiple scattered obstacles; (e) The robot turns right to avoid possible collision; (f) The robot returns to the line; (g) The robot detects another obstacle on its way; (h) The robot avoids obstacles; (i) The robot has successfully avoided obstacles.
