Table 4.
Comparison of indexes of the improved algorithms.
| Algorithms | Improvement strategy | Planning time | Percentage reduction of path length |
|---|---|---|---|
| Variable Step-RRT* (Liu et al., 2020) | Dynamic step size + path cost function designing | 49.34% | 9.18% |
| Improved RRT (Chen et al., 2021) | Artificial potential field method -Gravitational potential field | 88.52% | 13.12% |
| Improved P-RRT* (Yi et al., 2022) | Artificial potential field method -Gravitational potential field | 96.28% | 24.63% |
| Improved RRT | Artificial potential field method | 9.59% | 3.78% |
| Improved RRT (Lixin et al., 2021) | Artificial potential field method | 69.28% | 15.62% |
| Improved RRT (Zhang et al., 2018) | Regression mechanism | 36.36% | 1.07% |
The symbol * represents a special flag for an improved RRT algorithm, which is a specific sign.