Path Planning on Cluttered Env (Map 2)
118.42Clearance (cm)SDF-A*
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| SDF-A*Time (ms)=6410.512025.05 | 118.42 | 1,112.94 | 43.37 | 100 | 85 | |
| Opt-A*Time (ms)=1418.492025.05 | 35.1 | 161.9 | 45.27 | 100 | 38 | |
| UPPTime (ms)=1158.612025.05 | 25.44 | 433.57 | 39.62 | 100 | 94 | |
| FS PlannerTime (ms)=4548.802025.05 | 18.53 | 321.89 | 39.19 | 100 | 36 | |
| CBF-RRTTime (ms)=2954.642025.05 | 9.93 | 4,138.33 | 48.09 | 74 | 29 | |
| RRTTime (ms)=2365.592025.05 | 7.27 | 4,457.76 | 50.28 | 77 | 27 | |
| A*Time (ms)=643.092025.05 | 6.88 | 264.8 | 39.29 | 100 | 22 | |
| VoronoiTime (ms)=49.332025.05 | 0.2 | 2.57 | 0.51 | 2 | 2 |