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Journal of Robotics
Journal of Robotics/2020/Article/Fig 1

Research Article

Method of Formation of Quantitative Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots

Figure 1

Illustration of CVS scanning the environment as a 3D lidar:OY 1—АМR longitudinal axis;ОY 2—АМR transverse axis; P1—obstacle point;d p11andd p12—lengths of perpendiculars from the obstacle to the axesОY 1andОY 3;d p1——远程的Р 1.

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