Figure 2
From: Target position and avoidance margin effects on path planning in obstacle avoidance
Experimental setup. Participants walked to a bookcase that had an empty 16 oz cup (the “target”) sitting in its lower shelf (.88 m from the floor). AM-L represents the left avoidance margin; AM-R represents the right avoidance margin; DL and DR correspond to the distance from the center of the starting position to the left and right edges of the obstacle, respectively. θL is the left deviation angle and is the angle between the straight line connecting the target and the center of the starting position and the line connecting the outer left edge of the obstacle relative to the starting position. θR represents the right deviation angle and is defined as the angle between the straight line connecting the target from the center of the starting position and the line connecting the outer right edge of the obstacle relative to the center of the starting position.
