Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.
Obstacle avoidance; when an obstacle is present in the system, the global planner would determine a new path (green line) to avoid collision with the object (brightened pixels). Cyan pixels represent the clearance to the obstacle. (Color figure online)
