Table 3. The main evaluation indicators of RRT* and RE-RRT* path planning results of environment 2.

Scenario	Total count/No of samplings	Distance (D)	Delete Index	Angle (ϕ)	Execution time (sec)
RRT*	193	98	18	1.04	The first result in 22 sec pruned output takes 3-4min
RE-RRT*	76	54	3	0.6	11sec