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. 2019 Jun 19;19(12):2746. doi: 10.3390/s19122746

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© 2019 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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The state of the capsule robot moving in the corner. P shows the current position of the capsule robot, and $V_{1}$ reveals the robot’s movement at the last moment. The robot may move in the direction of $V_{2.1}$ or $V_{2.2}$ at the next moment, and the angle was formed by the adjacent moments $θ_{1}$ and $θ_{2}$ , respectively.