Table 6. The main evaluation indicators of RRT* and RE-RRT* path planning results of environment 4.

Scenario	Total count/No of samplings	Distance (D)	Delete Index	Angle (ϕ)	Execution time (sec)
RRT*	427	98	281	1.6	The first result in 25 sec pruned output takes 3-4 min
RE-RRT*	75	45	12	0.9	7sec