Table 8.

Dynamic Scenario 1—Perpendicular movement.

	Collisions Number	Safety Score (%)	Navigation Time (s)	Path Length (m)	Collisions Number	Safety Score (%)	Navigation Time (s)	Path Length (m)
$v_{\mathrm{obs}}=0.2\mathrm{m}/\mathrm{s}$	4 Dynamic Obstacles				8 Dynamic Obstacles
DWA	0.7	7.41	80.78	27.10	2.8	18.01	85.90	27.09
TEB	0.3	5.87	77.70	29.13	0.3	5.87	91.00	32.27
CADRL	0.9	25.30	90.16	36.85	1.2	24.03	90.40	42.90
SAC	1.4	23.44	78.41	26.89	1.5	25.44	90.14	28.82
$v_{\mathrm{obs}}=0.3\mathrm{m}/\mathrm{s}$	4 Dynamic Obstacles				8 Dynamic Obstacles
DWA	2.1	9.30	79.72	26.34	2.8	21.61	83.02	25.90
TEB	0.5	7.33	81.11	30.08	1.4	15.33	106.24	37.39
CADRL	1.4	22.60	87.27	42.98	1.8	29.65	90.25	43.05
SAC	2.0	22.97	73.13	26.06	3.9	35.00	79.11	27.30
$v_{\mathrm{obs}}=0.4\mathrm{m}/\mathrm{s}$	4 Dynamic Obstacles				8 Dynamic Obstacles
DWA	1.3	9.45	77.06	26.34	2.5	23.97	89.43	27.98
TEB	0.9	6.94	82.93	30.48	2.2	14.59	107.20	36.93
CADRL	2.0	24.71	90.69	43.02	1.9	25.08	92.20	43.25
SAC	1.7	13.68	73.11	26.04	3.5	33.13	76.80	26.80