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Real environment obstacle circular edge expansion design robot path planning based on ant colony algorithm

Fig 19

Real environment grid map coding.

(a) Real environment original grid map encoding. (b) Real environment obstacle circular design grid map encoding. (c) Real environment obstacle circular edge expansion design grid map encoding. (d) Real environment map encoding.

Fig 19

doi: https://doi.org/10.1371/journal.pone.0348580.g019