Figure 1
The illustration consists of three plots. Left plot (a), “Path of Robot 1”: The horizontal axis is labeled “X,” ranging from 0 to 100 with an interval of 20. The vertical axis is labeled “Y,” ranging from negative 20 to 70 with an interval of 10. The path is marked by a blue dashed line with directional arrows, moving within a winding corridor bounded by two closed polygonal lines drawn around the path, one black and one red. The path starts from (0, negative 2), passes through (10.2, negative 20), (37.7, 27.66), and (89.57, negative 10.4), and ends at (14, 59). Upper right plot (b), “Distance to path as Robot 1 moves”: The horizontal axis is labeled “Time (second),” ranging from 0 to 350 with an interval of 50. The vertical axis is labeled “Distance (meter),” ranging from negative 1.5 to 1 with an interval of 0.5. The red line curve labeled “Robot 1” starts from (0, negative 2.1), fluctuates over time while passing through (53.6, negative 1), (104.6, 0.97), and (196, negative 1.1), and ends at (365, 0). Lower right plot (c), “Curves of averaged rotational speeds”: The horizontal axis is labeled “Time (second),” ranging from 0 to 300 with an interval of 50. The vertical axis is labeled “Speed (radian per second),” ranging from negative 1.5 to 2 with an interval of 0.5. The red line curve labeled “Robot 1” starts from (5.47, negative 0.75), fluctuates over time while passing through (50, 1.34), (90, negative 1.08), and (166.4, 1.5), and ends at (320, 0). Note: All the numerical data values are approximated.Single robot with path following. Source: This study