Figure13

Figure 13. Illustration of the path created from the compared models^[46]. (A) It depicts the path created by Vonásek's model shown by the green lines (redrawn from Vonásek and Penicka, 2019^[46]). (B) It represents the proposed method point order and traversed path. The point order is illustrated by the violet arrows, while the orange path represents the robot path. Safety-aware roads are depicted by the blue dashed lines. The waypoints are illustrated by the violet circles. (C) It depicts how the B-spline curve is applied to the known path, which smooths and reduces the path for a local navigator to traverse.