ResearchBenchmarksNavigation on C-Shaped Wall Real-worldNavigation on C-Shaped Wall Real-worldFollow3.61Distance (m)PA-MPPI3.51924.13214.7455.3579Sep 18, 2025Evaluation resultsMethodMethodLinksDistance (m)Time (s)Avg Velocity (m/s)Energy Consumption (J)PA-MPPIObs. Size (w)=1.0 mObs. Size (w)=1.0 m2025.093.612.841.27—PA-MPPIObs. Size (w)=2.0 mObs. Size (w)=2.0 m2025.094.594.091.12—PA-MPPIObs. Size (w)=3.0 mObs. Size (w)=3.0 m2025.095.885.131.15—