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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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IJ
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Vo
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o
f
th
e
s
o
u
n
d
s
o
u
r
ce
lo
ca
tio
n
is
q
u
ite
s
u
s
ce
p
tib
le
to
n
o
is
e,
r
ec
o
g
n
itio
n
r
esear
ch
h
a
s
f
o
cu
s
ed
o
n
s
p
ec
i
f
ic
s
ig
n
als.
C
u
r
r
en
tl
y
w
i
th
th
e
d
ev
elo
p
m
e
n
t
s
o
f
s
y
s
te
m
tec
h
n
o
lo
g
y
,
th
e
r
ec
o
g
n
it
io
n
o
f
th
e
s
o
u
n
d
s
o
u
r
ce
h
as
b
ec
o
m
e
f
ea
s
ib
le
w
h
en
ap
p
lied
to
r
ea
l
ap
p
licatio
n
s
.
T
h
e
r
ec
o
g
n
itio
n
o
f
a
s
o
u
n
d
s
o
u
r
ce
is
u
s
e
f
u
l
f
o
r
n
a
v
ig
a
tin
g
m
o
b
ile
r
o
b
o
ts
to
f
o
llo
w
a
s
o
u
n
d
s
o
u
r
ce
o
r
av
o
id
o
b
s
tacle
s
[
1
3
-
1
4
]
.
Fo
r
th
e
s
o
u
n
d
s
o
u
r
ce
f
o
llo
w
i
n
g
r
o
b
o
t,
a
s
u
d
d
en
c
h
an
g
e
i
n
th
e
an
g
les
an
d
a
v
er
y
h
ig
h
s
p
ee
d
m
o
tio
n
m
i
g
h
t
b
e
n
ee
d
ed
to
f
o
llo
w
th
e
ar
b
itra
r
y
s
o
u
n
d
s
o
u
r
ce
.
Fo
llo
w
i
n
g
th
e
s
o
u
n
d
s
o
u
r
ce
an
d
av
o
i
d
in
g
o
b
s
tacle
s
,
th
e
r
elatio
n
s
h
ip
a
m
o
n
g
th
e
r
ec
o
g
n
ized
s
o
u
n
d
s
o
u
r
ce
an
d
t
h
e
m
o
b
ile
r
o
b
o
t
is
v
er
y
i
m
p
o
r
ta
n
t
a
n
d
n
ee
d
s
to
b
e
m
ai
n
tai
n
ed
p
r
o
p
er
ly
.
T
h
e
lo
c
atio
n
o
f
th
e
m
o
b
ile
r
o
b
o
t
is
i
d
en
tifie
d
b
y
t
h
e
d
ea
d
r
ec
k
o
n
i
n
g
m
e
th
o
d
u
s
i
n
g
an
en
co
d
er
.
Ob
s
tacle
s
e
x
is
t
i
n
t
h
e
m
o
v
i
n
g
p
ath
,
w
h
ich
s
h
o
u
l
d
b
e
av
o
id
ed
w
i
th
a
s
u
itab
le
s
en
s
o
r
d
u
r
i
n
g
th
e
f
o
llo
w
in
g
o
p
er
atio
n
.
Sev
er
al
s
tu
d
ie
s
h
av
e
e
x
a
m
i
n
e
d
r
ea
l
ti
m
e
o
b
s
tacle
av
o
id
an
c
e,
s
u
c
h
as
VFH
(
Vec
to
r
Field
His
to
g
r
a
m
ap
p
r
o
ac
h
)
,
C
VM
(
C
u
r
v
at
u
r
e
Velo
cit
y
Me
t
h
o
d
)
,
an
d
DW
A
(
D
y
n
a
m
ic
W
i
n
d
o
w
A
p
p
r
o
ac
h
)
,
w
h
ic
h
h
av
e
lo
ca
l
m
i
n
i
m
a
to
b
e
av
o
id
ed
w
it
h
ce
r
tain
m
o
d
i
f
icatio
n
s
[
1
5
-
1
7
]
.
T
h
e
P
FM
(
P
o
ten
tial
Field
Me
th
o
d
)
h
as
b
ee
n
p
r
o
p
o
s
ed
to
g
en
er
ate
an
attr
ac
tio
n
f
o
r
ce
to
th
e
tar
g
et
an
d
a
r
ep
u
ls
iv
e
f
o
r
ce
ag
ai
n
s
t
a
n
o
b
s
tacle
to
d
eter
m
i
n
e
th
e
d
ir
ec
tio
n
an
d
v
elo
cit
y
o
f
t
h
e
m
o
b
ile
r
o
b
o
t [
1
6
-
1
8
]
.
I
n
th
is
s
tu
d
y
,
t
h
e
v
ir
t
u
al
i
m
p
e
d
an
ce
m
et
h
o
d
h
as
b
ee
n
ad
o
p
te
d
an
d
elab
o
r
ated
to
im
p
r
o
v
e
t
h
e
o
b
s
t
ac
le
av
o
id
an
ce
p
er
f
o
r
m
an
ce
[
1
8
]
.
T
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
t
h
e
u
n
ce
r
tai
n
e
n
v
ir
o
n
m
en
t
a
n
d
t
h
e
m
o
b
ile
r
o
b
o
t
h
a
s
b
ee
n
m
o
d
eled
as
a
n
i
m
p
ed
an
c
e
f
o
r
m
ed
b
y
t
h
e
d
a
m
p
er
a
n
d
s
p
r
in
g
,
w
h
ic
h
g
en
er
ate
s
a
p
o
te
n
tial
v
ec
to
r
f
o
r
th
e
m
o
b
ile
r
o
b
o
t
[
1
9
-
2
2
]
.
T
h
e
co
n
v
e
n
tio
n
al
v
ir
t
u
al
i
m
p
ed
a
n
ce
alg
o
r
ith
m
m
a
y
co
n
f
r
o
n
t
w
it
h
a
lo
ca
l
m
i
n
i
m
u
m
d
u
r
in
g
n
av
ig
at
io
n
b
y
t
h
e
o
b
s
t
ac
les
w
i
th
f
ix
ed
co
e
f
f
icie
n
ts
o
f
t
h
e
i
m
p
ed
an
ce
.
I
n
t
h
is
s
t
u
d
y
,
th
e
i
m
p
ed
a
n
ce
h
a
s
b
ee
n
ad
j
u
s
ted
d
y
n
a
m
icall
y
to
i
m
p
r
o
v
e
th
e
co
ll
is
io
n
a
v
o
id
an
ce
p
er
f
o
r
m
a
n
ce
,
an
d
t
h
e
s
c
h
e
m
e
is
ca
lled
t
h
e
ac
tiv
e
v
ir
tu
a
l
i
m
p
ed
a
n
ce
m
et
h
o
d
.
T
h
e
lo
ca
tio
n
o
f
t
h
e
s
o
u
n
d
s
o
u
r
ce
h
as
b
ee
n
es
ti
m
ated
b
ased
o
n
th
e
T
DO
A
an
d
u
s
in
g
t
h
e
cr
o
s
s
-
co
r
r
elatio
n
al
g
o
r
ith
m
; t
h
e
v
ir
tu
al
i
m
p
ed
an
ce
alg
o
r
it
h
m
h
a
s
b
ee
n
ap
p
li
ed
to
allo
w
a
m
o
b
ile
r
o
b
o
t to
f
o
llo
w
a
s
o
u
n
d
an
d
av
o
id
o
b
s
tacle
s
.
T
h
is
p
ap
er
co
n
s
is
ts
o
f
s
i
x
s
ec
t
io
n
s
i
n
cl
u
d
in
g
t
h
is
i
n
tr
o
d
u
ctio
n
.
T
h
e
lo
ca
tio
n
esti
m
at
io
n
o
f
th
e
s
o
u
n
d
s
o
u
r
ce
is
d
is
c
u
s
s
ed
in
Sec
tio
n
2
.
A
s
a
k
e
y
id
ea
o
f
t
h
i
s
p
ap
er
,
th
e
ac
ti
v
e
v
ir
t
u
al
i
m
p
ed
an
ce
alg
o
r
ith
m
h
as
b
ee
n
d
er
iv
ed
in
Sect
io
n
3
,
th
e
e
x
p
er
i
m
en
tal
s
y
s
te
m
s
o
f
t
h
e
m
o
b
ile
r
o
b
o
t
an
d
s
en
s
o
r
s
ar
e
il
lu
s
tr
ated
in
Sectio
n
4
,
an
d
th
e
ex
p
er
i
m
en
ta
l
r
es
u
lts
ar
e
d
is
cu
s
s
ed
i
n
Sect
io
n
5
.
Fin
a
ll
y
,
Sectio
n
6
co
n
cl
u
d
es
th
is
r
esear
c
h
a
n
d
p
r
o
p
o
s
es f
u
tu
r
e
r
esear
c
h
.
2.
L
O
CAL
I
Z
A
T
I
O
N
O
F
SO
UND
SO
URC
E
2
.
1
.
P
o
int
s
o
un
d so
urce
An
ar
ti
f
icia
l
s
o
u
n
d
ca
n
b
e
g
e
n
er
ated
w
it
h
a
r
eg
u
lar
p
atter
n
u
s
in
g
a
s
p
ea
k
er
o
r
a
v
ib
r
atin
g
m
o
to
r
to
b
e
u
s
ed
f
o
r
lo
ca
lizatio
n
.
T
h
e
p
o
in
t
s
o
u
r
ce
g
e
n
er
ated
in
a
s
h
o
r
t
p
er
io
d
r
ad
iates
s
h
o
r
t
ter
m
e
n
er
g
y
,
w
h
ich
ca
n
b
e
r
ec
o
g
n
ized
ea
s
il
y
.
T
h
e
f
r
eq
u
e
n
c
y
o
f
s
o
u
n
d
,
f
,
tr
av
elin
g
w
it
h
th
e
v
elo
cit
y
v
ca
n
b
e
ch
an
g
ed
to
'
f
b
y
th
e
r
elativ
e
v
e
lo
cit
y
at
t
h
e
r
ec
eiv
e
r
p
o
in
t u
s
i
n
g
t
h
e
Do
p
p
ler
f
o
r
m
u
la
as
f
o
llo
w
s
(
1
)
:
c
s
cv
ff
cv
(
1
)
w
h
er
e
c
v
an
d
s
v
r
ep
r
esen
t
t
h
e
v
el
o
cit
y
o
f
th
e
r
ec
eiv
er
a
n
d
s
o
u
n
d
s
o
u
r
ce
,
r
esp
ec
tiv
e
l
y
.
c
is
th
e
p
r
o
p
ag
atio
n
v
elo
cit
y
o
f
th
e
s
o
u
n
d
.
T
h
e
Do
p
p
ler
ef
f
ec
t
ca
n
b
e
ig
n
o
r
ed
w
h
e
n
c
cv
an
d
s
cv
i.e
.
th
e
v
elo
cities
o
f
th
e
s
o
u
n
d
s
o
u
r
ce
an
d
th
e
m
o
b
il
e
r
o
b
o
t
a
r
e
co
n
s
id
er
ab
ly
s
m
aller
th
an
t
h
e
p
r
o
p
ag
atio
n
v
elo
cit
y
o
f
s
o
u
n
d
.
Dif
f
u
s
io
n
,
d
if
f
r
ac
tio
n
,
a
n
d
r
ef
lectio
n
o
f
t
h
e
s
o
u
n
d
s
i
g
n
al
in
th
e
e
n
v
i
r
o
n
m
e
n
t
m
a
k
e
t
h
e
s
i
g
n
al
r
ec
o
g
n
itio
n
f
o
r
th
e
lo
ca
lizatio
n
d
i
f
f
icu
lt.
T
h
e
s
o
u
n
d
s
ig
n
al
v
elo
cit
y
,
c
,
is
3
4
0
m
/s
in
t
h
e
air
at
r
o
o
m
te
m
p
er
atu
r
e.
Usi
n
g
t
h
is
v
elo
cit
y
an
d
tr
av
eli
n
g
ti
m
e,
t
h
e
d
is
ta
n
ce
b
et
w
ee
n
t
h
e
s
o
u
n
d
s
o
u
r
ce
an
d
m
icr
o
p
h
o
ne
ca
n
b
e
ca
lcu
lated
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
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N:
2089
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A
n
A
ctive
V
ir
tu
a
l I
mp
ed
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C
o
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tr
o
l A
lg
o
r
ith
m
F
o
r
C
o
llis
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o
n
F
r
ee
N
a
vig
a
tio
n
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f
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(
Ja
n
g
myu
n
g
Lee
)
101
2
.
2
.
Arr
iv
ing
t
i
m
e
diff
er
enc
e
m
et
ho
d
T
h
e
d
is
tan
ce
f
r
o
m
t
h
e
s
o
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n
d
s
o
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ce
to
th
i
m
icr
o
p
h
o
n
e,
i
R
,
ca
n
b
e
o
b
tain
ed
as f
o
llo
w
s
(
2
)
:
/
,
1
,
2
,
3
ii
R
m
t
s
c
m
s
i
(
2
)
w
h
er
e
i
t
is
t
h
e
tr
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e
lin
g
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m
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o
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h
en
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xn
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o
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m
p
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o
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n
t
s
,
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esp
ec
tiv
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y
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T
h
e
s
i
m
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y
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12
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xx
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,
ca
n
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e
d
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in
ed
f
r
o
m
t
h
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w
o
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ets a
s
f
o
llo
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s
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1
2
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2
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1
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(
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(
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xx
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u
n
ctio
n
ca
n
b
e
r
ep
r
esen
ted
as
(
4
)
:
1
2
,
0
(
)
1
/
(
)
(
)
ij
n
x
x
M
i
j
M
k
S
j
x
k
x
k
j
(
4
)
w
h
er
e
M
j
is
0
~
1
n
.
Usi
n
g
E
q
.
(
4
)
,
M
j
,
w
h
ich
g
i
v
es
th
e
m
a
x
i
m
u
m
s
i
m
il
ar
it
y
v
a
lu
e,
ca
n
b
e
o
b
tain
ed
.
T
h
e
ar
r
iv
al
ti
m
e
d
if
f
er
en
ce
b
et
w
e
en
th
e
t
w
o
m
icr
o
p
h
o
n
e
s
,
ij
t
,
ca
n
b
e
ca
lcu
lated
u
s
i
n
g
M
j
an
d
th
e
s
a
m
p
li
n
g
p
er
io
d
,
w
h
ich
i
s
r
ep
r
esen
ted
as
(
5
)
:
i
j
M
s
a
m
p
l
i
n
g
t
j
t
(
5
)
w
h
er
e
s
a
m
p
l
i
n
g
t
r
ep
r
esen
ts
t
h
e
s
a
m
p
lin
g
p
er
io
d
o
f
th
e
d
ata
s
ets.
2
.
3
.
Rec
o
g
nitio
n o
f
s
o
un
d so
urce
Fo
r
th
e
s
i
m
p
licit
y
o
f
o
b
tain
in
g
t
h
e
d
is
ta
n
ce
s
,
i
R
,
an
d
an
g
les,
i
to
th
e
s
o
u
n
d
s
o
u
r
ce
,
t
h
r
ee
m
icr
o
p
h
o
n
es,
1
M
,
2
M
,
an
d
3
M
ar
e
in
s
t
alled
o
n
th
e
s
a
m
e
p
la
n
e
w
it
h
a
co
n
s
ta
n
t
in
ter
v
al
(
4
0
C
lm
).
I
n
Fig
u
r
e
1
,
th
e
d
is
tan
ce
s
to
th
e
m
icr
o
p
h
o
n
es,
12
,
MM
,
an
d
3
M
,
f
r
o
m
t
h
e
s
o
u
n
d
s
o
u
r
ce
ar
e
r
ep
r
esen
ted
as
12
,
RR
,
an
d
3
R
,
r
esp
ec
tiv
el
y
.
A
n
d
t
h
e
D
is
a
n
o
r
m
al
d
is
ta
n
ce
to
t
h
e
s
o
u
n
d
s
o
u
r
ce
f
o
r
m
t
h
e
m
icr
o
p
h
o
n
es
.
T
h
e
(
1
,
2
,
3
)
i
ti
ca
n
b
e
d
ef
in
ed
as
th
e
tr
av
eli
n
g
ti
m
e
o
f
t
h
e
s
o
u
n
d
s
o
u
r
ce
to
th
e
th
i
m
icr
o
p
h
o
n
e,
w
h
ich
also
d
ef
in
e
s
12
t
an
d
13
t
as th
e
ar
r
i
v
al
ti
m
e
d
if
f
er
e
n
ce
b
et
w
ee
n
t
w
o
m
icr
o
p
h
o
n
es,
1
-
2
an
d
1
-
3
,
r
esp
ec
t
iv
el
y
.
Fro
m
F
ig
u
r
e
1
,
t
h
e
d
is
tan
ce
to
t
h
e
s
o
u
n
d
s
o
u
r
ce
,
D,
ca
n
b
e
o
b
tai
n
ed
u
s
i
n
g
th
e
tr
ia
n
g
u
lar
ar
ea
f
o
r
m
u
la.
Usi
n
g
th
e
Her
o
n
’
s
f
o
r
m
u
la,
th
e
ar
ea
s
o
f
t
w
o
tr
ia
n
g
les,
12
S
M
M
an
d
23
S
M
M
,
ca
n
b
e
o
b
tain
ed
as
f
o
llo
w
s
:
Fig
u
r
e
1
.
Geo
m
e
tr
ical
s
tr
u
c
tu
r
e
o
f
th
e
m
icr
o
p
h
o
n
es a
n
d
a
s
o
u
n
d
s
o
u
r
ce
in
2
D
s
p
ac
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
99
–
1
1
1
102
Fro
m
F
ig
u
r
e
1
,
t
h
e
d
is
tan
ce
to
t
h
e
s
o
u
n
d
s
o
u
r
ce
,
D
,
ca
n
b
e
o
b
tai
n
ed
u
s
i
n
g
th
e
tr
ia
n
g
u
lar
ar
ea
f
o
r
m
u
la.
Usi
n
g
th
e
Her
o
n
’
s
f
o
r
m
u
la,
th
e
ar
ea
s
o
f
t
w
o
tr
ia
n
g
les,
12
S
M
M
an
d
23
S
M
M
,
ca
n
b
e
o
b
tain
ed
as
f
o
llo
w
s
(6
-
7)
:
1
2
1
1
1
1
2
1
(
)
(
)
(
)
S
M
M
s
s
R
s
R
s
l
(
6
)
2
3
2
2
2
2
3
2
(
)
(
)
(
)
S
M
M
s
s
R
s
R
s
l
(
7
)
w
h
er
e
1
1
2
2
2
3
11
(
)
a
n
d
(
)
22
s
R
R
l
s
R
R
l
.
T
h
e
t
w
o
ar
ea
s
ar
e
ac
tu
all
y
t
h
e
s
a
m
e.
B
y
p
laci
n
g
t
h
i
s
r
elati
o
n
in
to
E
q
u
atio
n
(
6
)
,
(
7
)
,
th
e
d
is
tan
ce
D
ca
n
b
e
o
b
tain
ed
as f
o
llo
w
s
(
8
)
:
2
2
2
2
2
1
2
3
1
2
3
2
(
2
)
2
(
2
)
l
c
t
t
t
D
c
t
t
t
.
(
8
)
Usi
n
g
t
h
e
co
s
i
n
e
la
w
s
,
th
e
o
r
i
en
tatio
n
a
n
g
le,
,
ca
n
b
e
esti
m
a
ted
w
h
en
t
h
e
ar
r
iv
a
l
ti
m
e
d
if
f
er
en
ce
s
,
i
t
,
ar
e
av
ailab
le.
T
h
e
ar
r
iv
al
an
g
le
o
f
th
e
s
o
u
n
d
s
i
g
n
al
ca
n
b
e
ca
lcu
l
ated
as f
o
llo
w
s
(9
-
11)
:
1
1
1
s
i
n
D
D
c
t
(
9
)
1
2
2
s
i
n
D
D
c
t
(
1
0
)
1
2
3
3
s
i
n
D
c
t
D
c
t
(
1
1
)
3.
Act
iv
e
v
irt
ua
l i
m
peda
nce
T
o
av
o
id
o
b
s
ta
cles
m
o
r
e
e
f
f
icie
n
tl
y
b
y
t
h
e
n
a
v
ig
a
tio
n
r
o
b
o
t,
a
n
e
w
ac
t
iv
e
v
ir
t
u
al
i
m
p
ed
a
n
ce
alg
o
r
ith
m
h
as b
ee
n
p
r
o
p
o
s
ed
.
3
.
1
.
Co
llis
io
n v
ec
t
o
r
T
o
av
o
id
th
e
o
b
s
tacle
s
d
u
r
in
g
th
e
n
a
v
i
g
atio
n
o
f
a
m
o
b
ile
r
o
b
o
t,
th
e
lo
ca
tio
n
s
o
f
t
h
e
o
b
s
tacle
s
n
ee
d
to
b
e
id
en
tif
ied
f
ir
s
t.
T
h
e
d
is
tan
c
e
v
ec
to
r
f
r
o
m
t
h
e
s
en
s
o
r
to
an
o
b
s
tacle
,
i
L
(
i
: in
te
g
er
)
ca
n
b
e
d
ef
i
n
ed
as
(
1
2
)
:
(
,
)
(
c
o
s
,
s
i
n
)
i
i
i
i
i
i
i
L
x
y
r
r
(
1
2
)
w
h
er
e
i
r
r
ep
r
esen
ts
th
e
d
is
ta
n
ce
to
an
o
b
s
tacle
f
r
o
m
t
h
e
th
i
s
en
s
o
r
;
i
r
ep
r
esen
ts
t
h
e
a
n
g
le
b
et
w
ee
n
t
h
e
r
o
b
o
t
m
o
v
i
n
g
d
ir
ec
tio
n
R
Y
an
d
th
i
s
en
s
o
r
an
d
(
,
)
ii
xy
r
ep
r
esen
t th
e
lo
ca
tio
n
o
f
t
h
e
th
i
s
en
s
o
r
.
T
o
d
etec
t
o
b
s
tacle
s
in
f
r
o
n
t
o
f
t
h
e
m
o
b
ile
r
o
b
o
t,
th
r
ee
d
is
ta
n
ce
s
e
n
s
o
r
s
ar
e
attac
h
ed
in
f
r
o
n
t
o
f
t
h
e
m
o
b
ile
r
o
b
o
t.
A
co
lli
s
io
n
v
ec
to
r
,
C
is
d
ef
i
n
ed
u
s
i
n
g
t
h
e
s
e
n
s
e
d
ata.
T
w
o
d
if
f
er
en
t
s
it
u
ati
o
n
s
o
cc
u
r
w
h
en
d
ef
in
i
n
g
th
e
co
lli
s
io
n
v
ec
to
r
.
C
ase
1
:
W
h
e
n
th
e
o
b
s
tacle
is
s
m
all,
it
ca
n
b
e
d
etec
ted
o
n
l
y
b
y
a
d
is
tan
ce
s
en
s
o
r
.
I
n
th
i
s
ca
s
e,
th
e
co
lli
s
io
n
v
ec
t
o
r
,
C
is
d
ef
i
n
ed
as
(
1
3
)
:
i
CL
(
1
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
n
A
ctive
V
ir
tu
a
l I
mp
ed
a
n
ce
C
o
n
tr
o
l A
lg
o
r
ith
m
F
o
r
C
o
llis
i
o
n
F
r
ee
N
a
vig
a
tio
n
o
f
...
(
Ja
n
g
myu
n
g
Lee
)
103
C
ase
2
: W
h
en
t
h
e
o
b
s
tacle
is
d
etec
ted
b
y
t
w
o
d
is
ta
n
ce
s
e
n
s
o
r
s
,
th
e
co
llis
io
n
v
ec
to
r
,
C
ca
n
b
e
d
ef
in
ed
u
s
i
n
g
t
w
o
p
o
in
ti
n
g
v
ec
to
r
s
,
i
L
an
d
1
i
L
.
Fro
m
t
h
e
t
w
o
p
o
in
ti
n
g
v
ec
to
r
s
,
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
2
,
t
w
o
o
b
s
ta
cle
p
o
in
ts
i
P
an
d
1
i
P
ca
n
b
e
o
b
tain
ed
as f
o
llo
w
s
(
1
4
)
:
(
c
o
s
,
s
i
n
)
i
i
i
i
i
P
r
r
(
1
4
-
a)
1
1
1
1
1
(
c
o
s
,
s
i
n
)
i
i
i
i
i
P
r
r
(
1
4
-
b)
T
h
e
lin
e
b
et
w
ee
n
t
h
e
t
w
o
p
o
in
ts
,
i
P
an
d
1
i
P
ca
n
b
e
o
b
tain
ed
a
n
d
r
ep
r
esen
ted
as
1
ii
PP
.
T
h
en
a
co
llis
io
n
v
ec
to
r
f
r
o
m
t
h
e
m
o
b
ile
r
o
b
o
t
to
an
o
b
s
tacle
ca
n
b
e
d
ef
in
ed
a
s
0
c
PP
,
w
h
ic
h
is
v
er
ti
ca
l
to
th
e
li
n
e
1
ii
PP
fr
o
m
th
e
o
r
i
g
in
o
f
th
e
m
o
b
i
le
r
o
b
o
t,
0
P
.
No
w
t
h
e
co
llis
io
n
v
ec
to
r
w
.
r
.
t.
th
e
r
o
b
o
t
f
r
a
m
e,
R
c
c
,
is
d
ef
in
ed
as
f
o
llo
w
s
(
1
5
)
:
2
[]
1
1
RT
i
i
i
i
c
m
x
y
m
x
y
C
m
m
m
(
1
5
)
w
h
er
e
1
1
ii
ii
yy
xx
m
an
d
0
P
is
d
ef
i
n
ed
as th
e
o
r
ig
in
o
f
th
e
m
o
b
ile
r
o
b
o
t
w
.
r
.
t.
a
w
o
r
ld
f
r
a
m
e.
Fig
u
r
e
2
.
Def
i
n
itio
n
o
f
a
C
o
lli
s
io
n
v
ec
to
r
T
h
e
d
r
iv
in
g
v
ec
to
r
is
d
ef
i
n
ed
w
.
r
.
t.
th
e
m
o
b
ile
r
o
b
o
t
f
r
am
e,
w
h
ic
h
n
ee
d
s
to
b
e
tr
an
s
f
o
r
m
ed
to
a
w
o
r
ld
f
r
a
m
e
to
d
r
i
v
e
t
h
e
m
o
b
ile
r
o
b
o
t
to
a
tar
g
et
p
o
s
itio
n
s
p
ec
if
ied
w
.
r
.
t
.
th
e
w
o
r
ld
f
r
a
m
e.
Sp
ac
e
r
o
tatio
n
o
f
th
e
d
r
iv
i
n
g
v
ec
to
r
as s
h
o
w
n
i
n
Fig
u
r
e
3
.
Fig
u
r
e
3
.
Sp
ac
e
r
o
tatio
n
o
f
th
e
d
r
iv
in
g
v
ec
to
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
99
–
1
1
1
104
As
s
h
o
w
n
i
n
Fi
g
u
r
e
3
,
th
e
o
r
ien
tatio
n
o
f
th
e
m
o
b
ile
r
o
b
o
t
ca
n
b
e
tr
an
s
f
o
r
m
ed
to
th
e
w
o
r
l
d
f
r
a
m
e
b
y
r
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tatin
g
R
alo
n
g
t
h
e
z
-
a
x
is
a
s
f
o
llo
w
s
(
1
6
)
:
c
o
s
s
i
n
0
s
i
n
c
o
s
0
0
0
1
w
R
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d
w
R
R
d
wd
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(
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6
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r
e,
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d
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iv
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th
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o
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ld
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r
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s
(
1
7
)
:
00
[
]
w
T
dd
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x
x
y
y
(
1
7
)
3
.
2
.
Virt
ua
l i
m
peda
nce
m
o
d
el
T
h
e
r
elativ
e
d
is
tan
ce
an
d
v
el
o
cit
y
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et
w
ee
n
th
e
m
o
b
ile
r
o
b
o
t
an
d
an
o
b
s
tacle
ca
n
b
e
m
o
d
eled
as
a
s
p
r
in
g
a
n
d
d
a
m
p
er
,
r
esp
ec
tiv
el
y
,
w
h
ic
h
is
ca
l
led
th
e
v
ir
t
u
al
i
m
p
ed
an
ce
.
Usi
n
g
th
i
s
v
ir
t
u
al
i
m
p
ed
a
n
ce
,
th
e
ac
ce
ler
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n
f
o
r
th
e
m
o
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ile
r
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o
t to
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o
id
th
e
o
b
s
tacle
,
s
X
,
ca
n
b
e
d
ef
in
ed
.
Fig
u
r
e
4
.
Vir
tu
al
i
m
p
ed
a
n
ce
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o
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el
Fro
m
th
e
v
ir
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u
al
i
m
p
ed
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ce
m
o
d
el
illu
s
tr
ated
in
Fi
g
u
r
e
4
,
th
e
ac
ce
ler
atio
n
eq
u
atio
n
o
f
th
e
m
o
b
ile
r
o
b
o
t c
an
b
e
o
b
tain
ed
as f
o
llo
w
s
(
1
8
)
:
,,
11
1
o
s
o
d
nn
s
m
o
s
i
o
d
i
s
ii
x
F
F
F
M
(
1
8
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er
e
m
F
r
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ts
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e
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s
M
r
e
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as
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o
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il
e
r
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o
t;
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x
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h
e
ac
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ler
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o
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h
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m
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ile
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o
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i
F
ar
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th
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l
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ag
ai
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t
t
h
e
th
i
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d
d
y
n
a
m
ic
o
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r
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n
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n
d
d
y
n
a
m
ic
o
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,
r
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y
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ad
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itio
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o
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o
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m
F
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os
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od
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u
id
es
th
e
m
o
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ile
r
o
b
o
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to
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et
w
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ile
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T
h
e
f
o
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ce
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ar
e
d
escr
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ed
in
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etail
as f
o
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w
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(
1
9
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:
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m
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d
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F
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F
(
1
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w
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(
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
n
A
ctive
V
ir
tu
a
l I
mp
ed
a
n
ce
C
o
n
tr
o
l A
lg
o
r
ith
m
F
o
r
C
o
llis
i
o
n
F
r
ee
N
a
vig
a
tio
n
o
f
...
(
Ja
n
g
myu
n
g
Lee
)
105
No
te
th
at
,
si
x
an
d
,
di
x
r
ep
r
esen
t
th
e
p
o
s
itio
n
o
f
th
e
th
i
s
tatic
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d
d
y
n
a
m
ics
o
b
s
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s
,
r
esp
ec
tiv
el
y
.
T
h
e
v
ar
iab
les
in
E
q
u
atio
n
(
1
9
)
ar
e
s
u
m
m
ar
ized
in
T
ab
le
1
.
T
ab
le
1
.
C
o
n
s
tan
t
s
f
o
r
v
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t
u
al
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m
p
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a
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alg
o
r
it
h
m
.
V
a
r
i
a
b
l
e
D
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f
i
n
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t
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o
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r
K
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p
r
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g
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o
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s
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a
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mp
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c
o
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si
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p
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ep
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()
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d
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n
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e
p
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ted
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s
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e
o
b
tain
ed
c
o
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n
v
ec
to
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C
w
.
r
.
t.
th
e
w
o
r
ld
f
r
a
m
e
as
f
o
llo
w
s
:
1
WW
b
o
c
o
c
d
F
K
C
u
D
C
u
dt
(
2
0
)
w
h
er
e
0
K
is
a
s
p
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in
g
co
e
f
f
icien
t,
0
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is
a
d
a
m
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in
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co
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icie
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a
n
d
1
WW
c
u
C
C
.
T
h
e
r
ep
u
ls
iv
e
f
o
r
ce
is
g
e
n
er
ated
r
eg
ar
d
less
o
f
t
h
e
t
y
p
e
s
o
f
o
b
s
tacle
s
a
n
d
all
th
e
r
e
p
u
ls
i
v
e
f
o
r
ce
s
ar
e
ad
d
ed
to
g
eth
er
.
Fo
r
th
e
s
tatic
o
b
s
tacle
,
t
h
e
co
n
v
en
t
io
n
al
v
ir
t
u
al
i
m
p
ed
a
n
ce
al
g
o
r
ith
m
i
s
e
f
f
ec
ti
v
e.
O
n
th
e
o
th
er
h
an
d
,
w
h
e
n
t
h
er
e
ar
e
m
u
ltip
le
o
b
s
ta
cles,
t
h
e
m
o
b
ile
r
o
b
o
t
is
j
a
m
m
ed
a
n
d
ca
n
n
o
t
n
av
ig
ate
f
u
r
t
h
er
.
I
n
ad
d
itio
n
,
t
h
e
s
u
d
d
en
r
ep
u
l
s
iv
e
f
o
r
ce
ag
ai
n
s
t
th
e
m
o
v
i
n
g
o
b
s
tacle
ca
u
s
e
s
u
n
s
tab
le
v
elo
cit
y
c
h
an
g
es
to
t
h
e
m
o
b
il
e
r
o
b
o
t
s
o
th
at
t
h
e
m
o
b
ile
r
o
b
o
t
v
ib
r
ates
o
n
th
e
p
ath
o
r
d
ev
iate
s
f
r
o
m
th
e
p
ath
.
Flo
w
c
h
ar
t
o
f
t
h
e
s
o
u
n
d
s
o
u
r
ce
tr
ac
k
i
n
g
m
o
b
ile
r
o
b
o
t s
y
s
te
m
a
s
s
h
o
w
n
in
Fi
g
u
r
e
5
.
Fig
u
r
e
5
.
Flo
w
c
h
ar
t o
f
th
e
s
o
u
n
d
s
o
u
r
ce
tr
ac
k
i
n
g
m
o
b
ile
r
o
b
o
t sy
s
te
m
.
3
.
3
.
Act
iv
e
v
irt
ua
l i
m
peda
nc
e
a
lg
o
rit
h
m
A
n
e
w
ac
ti
v
e
v
ir
tu
al
i
m
p
ed
an
ce
alg
o
r
ith
m
is
p
r
o
p
o
s
ed
to
o
v
er
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m
e
th
e
d
is
ad
v
a
n
ta
g
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o
f
th
e
co
n
v
e
n
tio
n
al
v
ir
tu
a
l
i
m
p
ed
an
c
e
m
e
th
o
d
[
2
2
]
th
at
g
en
er
ates
a
ttra
ctiv
e
an
d
r
ep
u
ls
i
v
e
f
o
r
ce
s
p
r
o
p
o
r
tio
n
al
to
th
e
d
is
tan
ce
an
d
r
elati
v
e
v
elo
citi
es
ag
ai
n
s
t
t
h
e
tar
g
et
a
n
d
o
b
s
tacle
.
B
ec
au
s
e
th
e
co
llis
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o
s
s
ib
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y
in
cr
ea
s
e
s
ab
r
u
p
tl
y
w
h
en
t
h
e
o
b
s
tacle
ap
p
r
o
ac
h
es
th
e
m
o
b
ile
r
o
b
o
t
w
i
t
h
a
h
i
g
h
r
elativ
e
v
elo
cit
y
,
a
n
e
w
n
o
n
li
n
ea
r
ac
ti
v
e
v
ir
tu
a
l i
m
p
ed
an
ce
h
as b
ee
n
p
r
o
p
o
s
ed
to
in
co
r
p
o
r
ate
th
e
s
itu
a
tio
n
s
as
f
o
llo
w
s
(
2
1
)
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
99
–
1
1
1
106
1
WW
b
a
c
a
c
d
F
K
C
u
D
C
u
dt
(2
1
)
w
h
er
e
a
K
an
d
a
D
ar
e
d
ef
in
ed
as
Fi
g
u
r
e
5
(
a)
an
d
(
b
)
,
r
esp
ec
tiv
el
y
.
Fig
u
r
e
6
s
h
o
w
s
a
K
an
d
a
D
as
a
f
u
n
ctio
n
o
f
th
e
d
i
s
tan
ce
a
n
d
r
el
ativ
e
v
elo
cit
y
a
g
ai
n
s
t
t
h
e
o
b
s
t
ac
le,
w
h
ic
h
ar
e
in
E
q
u
atio
n
(
2
1
)
.
As
s
h
o
w
n
in
Fi
g
u
r
e
6
(
a)
,
th
e
o
K
in
cr
ea
s
es
w
h
e
n
th
e
d
is
ta
n
ce
to
th
e
o
b
s
tacle
d
ec
r
ea
s
es
u
n
t
il
1
.
Ho
w
e
v
er
,
w
h
en
t
h
e
d
is
ta
n
ce
is
v
er
y
s
m
al
l,
th
e
r
ep
u
ls
i
v
e
f
o
r
ce
n
ee
d
s
t
o
b
e
s
atu
r
ated
to
co
n
s
id
er
th
e
m
a
x
i
m
u
m
v
elo
cit
y
o
f
th
e
m
o
b
ile
r
o
b
o
t
to
av
o
id
th
e
o
b
s
tacle
.
T
h
er
ef
o
r
e
th
e
o
K
v
alu
e
is
s
et
to
b
e
d
ec
r
ea
s
ed
w
h
e
n
th
e
d
is
tan
ce
i
s
s
m
a
ller
th
a
n
1
.
On
th
e
o
th
er
h
an
d
,
th
e
r
ep
u
l
s
i
v
e
f
o
r
ce
ag
ai
n
s
t
t
h
e
r
elativ
e
v
elo
cit
y
is
co
n
s
id
er
ed
ef
f
ec
tiv
e
b
elo
w
,
1
,
as
s
h
o
w
n
i
n
F
ig
u
r
e
6
(
b
)
.
N
o
te
th
at
w
h
e
n
t
h
e
r
ela
tiv
e
v
elo
cit
y
to
th
e
o
b
s
tacle
i
s
lar
g
er
t
h
an
,
1
,
th
e
g
a
in
,
a
D
,
is
ad
j
u
s
ted
n
o
t
to
r
eq
u
ir
e
th
e
m
a
x
i
m
u
m
v
elo
cit
y
o
f
th
e
m
o
b
ile
r
o
b
o
t.
Fig
u
r
e
6
.
Dete
r
m
in
a
tio
n
o
f
a
K
an
d
a
D
4.
E
x
peri
m
e
nta
l sy
s
t
e
m
s
4
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I
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.
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