Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

Figure 4

Planned paths evolvement of 𝐴_𝑖 (𝑖=1,2,3,4) in Section 5.1.2. (a) In [0, 1.15], (b) in [1.15, 2.4], (c) in [2.4, 3.4], (d) in [3.4, 5], and (e) in [0, 5].

(a)

(b)

(c)

(d)

(e)