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Table 3 Parameters used in experiment

From: Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor

α BW 12°
r max 8 m
r min 0.18 m
α FOV 165°
n BEAM 15
d R 0.15 m
d acc 1.15 m
k 1 0.6
k 2 0.4