The Path Planning and Location Method of Inspection Robot in a Large Storage Tank Bottom

Figure 9

Path planning results of different algorithms under obstacle distribution 1. (a) APF, (b) APF + IR, (c) VT, (d) VT + IR, (e) IAPF, (f) IAPF + IR, (g) RPF, and (h) RPF + IR.

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(h)