ResearchBenchmarksTrajectory Planning on Environment E3*Trajectory Planning on Environment E3*Follow2.878Path Length (m)Base2.866322.945163.0243.10284Mar 10, 2026Evaluation resultsMethodMethodLinksPath Length (m)Mean Jerk (m/s^3)Collision CountRelative MetricReduction PercentageBase2026.032.8781.05———WESPR2026.033.171.32———