Trajectory Planning on Scenario 1
196Mean Loop Time (ms)Cost Aware A*
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Cost Aware A*2025.09 | 196 | 164 | 216 | 1.36 | 1.14 | 3.97 | |
| Cost Aware LazyTheta*2025.09 | 204 | 171 | 246 | 1.37 | 1.22 | 3.6 | |
| C-3TOiter_ini=30, iter_main=30, n_ESDF=52025.09 | 254 | 154 | 362 | 0.94 | 0.88 | 3.14 | |
| C-3TOiter_ini=50, iter_main=30, n_ESDF=52025.09 | 268 | 184 | 374 | 1.04 | 0.9 | 3.22 | |
| C-3TOiter_ini=50, iter_main=50, n_ESDF=52025.09 | 358 | 285 | 531 | 1.16 | 1.11 | 3.16 |