ResearchBenchmarksMobile Robot Navigation on Gazebo corridor navigation Cluttered Obstacle FieldMobile Robot Navigation on Gazebo corridor navigation Cluttered Obstacle FieldFollow13.72Navigation Time (s)PSDF-MPC13.513214.909116.30517.7009Jul 5, 2026Evaluation resultsMethodMethodLinksNavigation Time (s)Success RatePSDF-MPCComputation Time Mean...Computation Time Mean (ms)=32.62026.0713.72—RDAComputation Time Mean...Computation Time Mean (ms)=204.32026.0718.89—