Research Article
Fast Path Planning for On-Water Automatic Rescue Intelligent Robot Based on Constant Thrust Artificial Fluid Method
Table 2
The shape parameters of each obstacle.
| | Obstacle | Shape | a | b | c | d | e | f | Center of obstacle |
| | 1 | Sphere | 3.9 | 3.9 | 3.9 | 1 | 1 | 1 | (20, 20, 0) | | 2 | Sphere | 6 | 6 | 6 | 1 | 1 | 1 | (30, 3, 0) | | 3 | Sphere | 4 | 4 | 4 | 1 | 1 | 1 | (20, 30, 0) | | 4 | Cylinder | 5 | 5 | 5 | 1 | 1 | 10 | (22, 7, 0) | | 5 | Cylinder | 5 | 5 | 5 | 1 | 1 | 10 | (35, 15, 0) | | 6 | Cone | 2 | 3 | 2 | 1 | 1 | 0.3 | (33, 27, 0) | | 7 | Cone | 11 | 11 | 11 | 1 | 1 | 0.3 | (8, 30, 0) | | 8 | Cone | 8 | 8 | 13.6 | 1 | 1 | 0.3 | (8, 10, 0) | | 9 | Cone | 5 | 5 | 5 | 1 | 1 | 0.3 | (30, 36, 0) | | 10 | Cone | 2 | 3 | 2 | 1 | 1 | 0.3 | (29, 22, 0) |
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