ResearchBenchmarksRobot Path Planning on Simulation Scenario 2 Dynamic obstacleRobot Path Planning on Simulation Scenario 2 Dynamic obstacleFollow7.98Time (s)CE-MPPI7.91288.36648.829.2736Jul 7, 2026Evaluation resultsMethodMethodLinksTime (s)Collision-Free RatePath Length (m)CE-MPPI2026.077.98—4.3CSC-MPPI2026.079.66—4.73