Table 1 Obstacle conditions. AM-L represents the left avoidance margin; AM-R represents the right avoidance margin.
From: Target position and avoidance margin effects on path planning in obstacle avoidance
Condition | Obstacle length | Obstacle location | AM-L (cm) | AM-R (cm) |
|---|---|---|---|---|
1 | No obstacle | NA | NA | NA |
2 | 45 cm | Center of the walkway | 83.5 | 83.5 |
3 | 90 cm | Center of the walkway | 61.0 | 61.0 |
4 | 90 cm | Right side of the center of walkway | 84.0 | 40.0 |
5 | 90 cm | Left side of the center of walkway | 40.0 | 84.0 |
6 | 135 cm | Center of the walkway | 39.0 | 39.0 |
7 | 135 cm | Right side of the center of walkway | 52.0 | 25.0 |
8 | 135 cm | Left side of the center of walkway | 25.0 | 52.0 |
