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Journal of Robotics
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Special Issues
Journal of Robotics
/
2022
/
Article
/
Tab 1
/
Research Article
Mobile Robot Path Planning Based on Enhanced Dynamic Window Approach and Improved A
Algorithm
Table 1
The relationship between angle
ε
and the discarded directions.
ε
Retained directions
Discarded directions
[337.5°, 360°)∪ [0°, 22.5°)
n
1
n
2
n
3
n
4
n
5
n
6
n
7
n
8
[22.5°, 67.5°)
n
1
n
2
n
3
n
5
n
8
n
4
n
6
n
7
[67.5°, 112.5°)
n
2
n
3
n
5
n
7
n
8
n
6
n
7
n
8
[112.5°, 157.5°)
n
3
n
5
n
6
n
7
n
8
n
1
n
4
n
6
[157.5°, 202.5°)
n
4
n
5
n
6
n
7
n
8
n
1
n
2
n
4
[202.5°, 247.5°)
n
1
n
4
n
6
n
7
n
8
n
2
n
3
n
5
[247.5°, 292.5°)
n
1
n
2
n
4
n
6
n
7
n
3
n
5
n
8
[292.5°, 337.5°)
n
1
n
2
n
3
n
4
n
6
n
5
n
7
n
8
