Trajectory Planning on Scenario 2
197Mean Loop Time (ms)Cost Aware LazyTheta*
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Cost Aware LazyTheta*2025.09 | 197 | 185 | 223 | 1.14 | 0.66 | 3.62 | |
| Cost Aware A*2025.09 | 207 | 160 | 308 | 1.1 | 0.7 | 3.64 | |
| C-3TOiter_ini=30, iter_main=30, n_ESDF=52025.09 | 266 | 154 | 402 | 0.97 | 0.88 | 3.15 | |
| C-3TOiter_ini=50, iter_main=30, n_ESDF=52025.09 | 274 | 186 | 400 | 1.06 | 0.85 | 3.28 | |
| C-3TOiter_ini=50, iter_main=50, n_ESDF=52025.09 | 364 | 260 | 516 | 1.1 | 0.82 | 3.28 |