Figure 18: Comparison of paths obtained with different start time (a) 0 (b) 10 (c) 20 (d) 30 (e) 40 (f) 100 seconds. A safety distance constraint of 20 pixel is maintained for all scenarios in the figure.Position of both moving obstacles is plotted at each start time on the binary map, based on the velocity and direction mentioned in Fig.13.
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