ResearchBenchmarksTrajectory Planning on Environment E1Follow2.785Path Length (m)Base2.767962.882982.9983.11302Mar 10, 2026Evaluation ResultsMethodMethodLinksPath Length (m)Mean Jerk (m/s^3)Collision CountRelative ScoreReduction (%)Base2026.032.7851.94———WESPR2026.033.2111.5———