Figure12

Figure 12. Illustration of the path created from the compared models^[45]. (A) It depicts the path created by Zhuang et al.'s model by the green lines (redrawn from Zhuang et al., 2021^[45]). (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.