Figure 5
The flowchart outlines a decision-making process. It starts with the condition “d subscript i j (t) greater than d cap subscript 1?” If “Yes,” the process moves to “Act by (4)”; if “No,” it checks “d subscript i j (t) less than d cap subscript 0?” If “Yes,” it proceeds to “Act by (9)”; if “No,” it evaluates “eta subscript i j (t) less than eta?” If “Yes,” it goes to “Act by (10)”; if “No,” it goes to “Act by (4).” After any action, the process moves to “Update (1)” and the final check “d subscript i j (t) greater than d cap subscript 1?” If “Yes,” it cycles back to the start; if “No,” it loops back to the earlier decision point. Flow lines with arrows connect each decision and action box.Flow chart for path following and collision avoidance. Source: Authors’ own work