Fig. 14From: Real-time obstacle avoidance of mobile robots using state-dependent Riccati equation approachControl inputs applied to the robot to reach the target point (xd, yd) = (2, 5.5) in presence obstacle points (x01, y01) = (−1.5, 7.8) and (x02, y02) = (0.1, 7) with SDRE methodBack to article page