Trajectory Planning on UCY Collision Radius 0.7 m
125Sampling Frequency (CPU) (Hz)MPPI
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| MPPIBatch Size=64, Collision Radius=0.7 m2026.03 | 125 | 16.4 | 0.57 | 0.76 | 1.781 | 142.86 | |
| IMLEBatch Size=64, Collision Radius=0.7 m2026.03 | 76.92 | 20.6 | 0.186 | 0.394 | 0.461 | 111.11 | |
| IMLE+MPPIBatch Size=64, Collision Radius=0.7 m2026.03 | 52.63 | — | — | — | — | 83.33 | |
| CFMBatch Size=64, Collision Radius=0.7 m2026.03 | 2.65 | 28.4 | 0.073 | 0.612 | 0.74 | 4.3 | |
| CoBLBatch Size=64, Collision Radius=0.7 m2026.03 | 0.41 | 22.2 | 0.048 | 0.605 | 1.396 | 0.71 |