ResearchBenchmarksUAV Trajectory Planning on Horizontal narrow-space scenarioUAV Trajectory Planning on Horizontal narrow-space scenarioFollow40.17Trajectory Duration (s)FLAP38.252851.193964.13577.0761Jun 16, 2026Evaluation resultsMethodMethodLinksTrajectory Duration (s)Trajectory Length (m)Cost Metric E (m²/s⁵)Dynamic Constraint Metric SSAY (rad²/s⁴)Computation Time (ms)RP ScoreFLAP2026.0640.1773.37165.98121.15.49182RAPTOR2026.0648.4372.4148.22701.588.5163NBV2026.0674.5173.12112.0484.780.88231FM2026.0688.181.97188.4945.12.73563