From: Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor
α BW
12°
r max
8Â m
r min
0.18Â m
α FOV
165°
n BEAM
15
d R
0.15Â m
d acc
1.15Â m
k 1
0.6
k 2
0.4