Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm

Figure 15

Path planning ((, )=(750, 750)).

(a) Navigation in case safe segments ((, )=(0, 0)).

(b) Navigation in case safe segments ((, )=(400, 0)).

(c) Navigation in case safe and danger segments ((, )=(0, 0)).

(d) Navigation in case safe and danger segments ((, )=(400, 0)).