Motion Planning Roadmap Update on 6-body Articulated Manipulator
645.7SerRGG Time (µs)SerRGG
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| SerRGGNodes=100, Edges=255.4, Obstacle Size=3 × 3 × 32026.03 | 645.7 | — | — | — | — | — | — | — | |
| SerRGGNodes=1000, Edges=3269, Obstacle Size=3 × 3 × 32026.03 | 2,062.7 | — | — | — | — | — | — | — | |
| SerRGGNodes=5000, Edges=227680, Obstacle Size=3 × 3 × 32026.03 | 12,675.6 | — | — | — | — | — | — | — | |
| RGGNodes=100, Edges=255.4, Obstacle Size=3 × 3 × 32026.03 | — | 274.9 | — | — | 32.81 | 5,478.2 | — | — | |
| RGGNodes=1000, Edges=3269, Obstacle Size=3 × 3 × 32026.03 | — | 3,937.7 | — | — | 300.2 | 42,829.1 | — | — | |
| RGGNodes=5000, Edges=227680, Obstacle Size=3 × 3 × 32026.03 | — | 26,256.6 | — | — | 1,927.03 | 214,432.6 | — | — | |
| SerRGG OANodes=100, Edges=255.4, Obstacle Size=3 × 3 × 32026.03 | — | — | 528 | — | — | — | 38.35 | 5,860.5 | |
| SerRGG OANodes=1000, Edges=3269, Obstacle Size=3 × 3 × 32026.03 | — | — | 795.9 | — | — | — | 358.28 | 45,816 | |
| SerRGG OANodes=5000, Edges=227680, Obstacle Size=3 × 3 × 32026.03 | — | — | 4,110 | — | — | — | 2,316.57 | 235,806.1 | |
| SPITENodes=100, Edges=255.4, Obstacle Size=3 × 3 × 32026.03 | — | — | — | 125.5 | — | — | — | — | |
| SPITENodes=1000, Edges=3269, Obstacle Size=3 × 3 × 32026.03 | — | — | — | 1,341.8 | — | — | — | — | |
| SPITENodes=5000, Edges=227680, Obstacle Size=3 × 3 × 32026.03 | — | — | — | 7,121 | — | — | — | — |