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. Author manuscript; available in PMC: 2016 Jan 31.
Published in final edited form as: IEEE Trans Robot. 2015 Jan 29;31(1):104–116. doi: 10.1109/TRO.2014.2380273

Fig. 5.

Fig. 5

Histogram of executed path lengths for HFR and for PCLRHC [8]. Note that the length of the shortest path that connects the start position and the goal position is at least 12. PCLRHC occasionally returns values that are less than 12, which is likely due to the robot not exactly reaching the goal. HFR achieves a lower average path length because, unlike PCLRHC, HFR is not sensitive to local minima.