Open Access

表1

不规则障碍物参数

编号坐标类别
1(40, 10;50, 13;70, 20;60, 36;43, 41;30, 25)五边形
障碍物
2(65, 35;85, 35;85, 45;65, 45)矩形
障碍物
3(32, 49;60, 58;65, 75;58, 82)四边形
障碍物
4(15, 45;20, 50;25, 40;22.5, 75;14, 63)凹形
障碍物
5(68, 58;85, 48;75, 82)三角形
障碍物
6中心点位于(22, 25), 长轴为5, 短轴
为8, 倾斜角为π/8的椭圆
弧形
障碍物

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