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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