Fig. 16From: Real-time obstacle avoidance of mobile robots using state-dependent Riccati equation approachPath of the robot to 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 LQR methodBack to article page