ResearchBenchmarksTrajectory Planning on Unstructured Environment Scenario aFollow8STC Time (s)STC7.67.888.2Apr 24, 2026Evaluation ResultsMethodMethodLinksSTC Time (s)AV1 Time (s)AV2 Time (s)AV3 Time (s)AV4 Time (s)AV5 Time (s)AV6 Time (s)STCObstacles=×, N_AV=6Obstacles=×, N_AV=62026.048——————V-STCObstacles=×, N_AV=6Obstacles=×, N_AV=62026.04—5.934.575.574.974.565.13