Figure11

Figure 11. Illustration of the path created from the other models^[44]. (A) It depicts the path created by Asl and Taghirad model by the green lines (redrawn by Asl and Taghirad, 2019^[44]). (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.