Figure9

Figure 9. Results of the RRT algorithm using boundary data. (A) Schematic showing the robot spinning around an obstacle; (B) Schematic of the robot spinning during operation; (C) Schematic of the robot spinning near the target point; (D) Rviz interface showing the schematic of the robot spinning near an obstacle; (E) Rviz interface showing schematic of robot spinning near an obstacle; (F) Rviz interface showing schematic of robot spinning near a target point. RRT: Rapidly-exploring random tree.