Robot executes global path h=4 h=2 h=1 h h=2 h=1 h=0 E G h=4 h=2 BDHK h=5 h=4 h=3 h=2 S A C FRobot Executes Global Path J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 0 h = 2 h = 1 h = 2 h = 1 h = 1