ResearchBenchmarksTrajectory Planning on Scenario S1Follow40.118Path Length (m)SROP40.0003640.7944341.588542.38257Oct 30, 2024Evaluation ResultsMethodMethodLinksPath Length (m)Jerk Error (JE)Jerk Rate Score (JRS)Optimization Coefficient (r*_alpha)Trajectory Time (ms)Impact Potential Score (Trajectory)Angular Jerk Derivative (rad/s)Impact Potential Score (Jerk Derivative)SROPTopo ID=#2Topo ID=#22024.1040.11819.6670.2230.02530.264.24.68780SROPTopo ID=#1Topo ID=#12024.1040.1319.4530.2280.02533.163.84.81479.4CHPTopo ID=2Topo ID=22024.1043.059———15.2—23.352—