Figure12
From: An informative planning-based multi-layer robot navigation system as applied in a poultry barn
Figure 12. Illustration of robot local navigation at various locations: (A) sample of grids between feeding and drinking lines; (B) sample of grids at the corner; and (C) sample of grids for robot U-turning. Green lines represent the robot real motion trajectory, blue dashed lines represent trajectories generated by global path planning, navy blue solid circles are robot final positions in the figure, navy blue dashed circles illustrate different stages of robot positions, grey rectangles are feeding lines and drinking lines, red dots are dead broilers, and slate grey dots are live broilers.
