Figure 4
The dual-axis plot displays two variables against “Distance Along Path (meter)” on the horizontal axis, ranging from 0 to 300 with an interval of 50. The left vertical axis shows “Distance to Environment Contour (meter),” ranging from 4 to 14 with an interval of 2, with a blue dash-dot line labeled “Distance” indicating fluctuations throughout the path. The right vertical axis shows “Angle of Direction (degree),” ranging from negative 100 to 100 with an interval of 50, with a red stepped line labeled “Angle” displaying abrupt changes at intervals. The plot contains a legend at the lower right for both lines. The red line starts at (0, 5.9), steps up to (50, 13.2), steps down to (73.5, 5.2), then steps up and steps down again and passes through (200, 13.5) and (250, 5.34), and ends at (335, 9.2). The blue dash-dot line starts at (0, negative 42), passes through (81.23, negative 8) and (228, negative 73), and ends at (335, 88). Note: All the numerical data values are approximated.Curves of shortest distances from robots to the environment contour. Source: This study