Fig. 15From: Real-time obstacle avoidance of mobile robots using state-dependent Riccati equation approachPath of the robot without obstacle avoidance term in presence obstacle points (x01, y01) = (−1.5, 7.8), (x02, y02) = (0.1, 7) and target point (xd, yd) = (2, 5.5)Back to article page