Figure 4
From: Target position and avoidance margin effects on path planning in obstacle avoidance
Probability of walking to the right side of the obstacle based on the target and obstacle locations. (A) Influence of ΔD on the probability of walking to the right of the obstacle. (B) Influence of Δθ on the probability of walking to the right of the obstacle. (C) Influence of avoidance margin on the probability of walking to the right of the obstacle.
