Comparison of path planning results by the conventional BAS algorithm on four different maps.

(a) Single regular obstacle. (b) Single irregular obstacle. (c) Multiple regular obstacles. (d) Multiple irregular obstacles.</p

Path planning process.

Path planning process.</p

S1 Dataset -

(XLSX)</p

Path planning results are synthesized by the VBAS algorithm to avoid a single regular obstacle.

(a) Motion results in a 2D plane. (b) Relationship between function and number of iterations.</p

Comparing the path planning of the VBAS algorithm and APF under different types of obstacles.

Comparing the path planning of the VBAS algorithm and APF under different types of obstacles.</p

Path planning results are synthesized by the VBAS algorithm to avoid multiple regular obstacles.

(a) Motion results in a 2D plane. (b) Relationship between function and number of iterations.</p

Multiple irregular obstacles enlarged the view of the planned path part of the VBAS algorithm.

Multiple irregular obstacles enlarged the view of the planned path part of the VBAS algorithm.</p

Path planning results are synthesized by the VBAS algorithm to avoid a single irregular obstacle.

(a) Motion results in a 2D plane. (b) Relationship between function and number of iterations.</p

Two-dimensional simulation environment map.

(a) Real Environment Map. (b) Safety threshold environment map.</p

Path planning performance of VBAS algorithm under different types of obstacles.

Path planning performance of VBAS algorithm under different types of obstacles.</p