Table 2.

Relationship between step size and OABAS algorithm performance in the environment with a regular obstacle.

$\mathit{\delta }$	${\mathit{m}}_{\mathbf{ave}}$	$\mathit{t}\left(\mathbf{s}\right)$	${\mathit{f}}_{\mathbf{ave}}$	${\mathit{f}}_{\mathbf{bes}}$	${\mathit{f}}_{\mathbf{Std}}$	Con.
0.5	6819	0.019	858.32	557.84	$1.30\times {10}^4$	No
1.0	4532	0.013	620.79	38.25	$6.64\times {10}^4$	No
1.5	7898	0.022	228.38	37.28	$5.69\times {10}^4$	No
2.0	12,284	0.035	104.18	37.33	$1.94\times {10}^4$	No
2.5	17,209	0.049	70.35	37.83	$8.45\times {10}^3$	Yes
3.0	19,065	0.054	55.54	37.71	$3.21\times {10}^3$	Yes
3.5	19,984	0.057	58.37	38.61	$3.09\times {10}^3$	Yes
4.0	21,096	0.060	53.17	39.17	$3.45\times {10}^3$	Yes
4.5	22,111	0.063	49.58	39.73	$\mathbf{9.73}\times {\mathbf{10}}^{\mathbf{3}}$	Yes
5.0	22,851	0.065	53.79	39.80	$3.05\times {10}^3$	Yes
5.5	22,893	0.065	53.80	41.49	$1.48\times {10}^3$	Yes
6.0	23,313	0.066	51.11	41.58	$1.62\times {10}^3$	Yes
6.5	23,143	0.066	68.48	42.31	$4.73\times {10}^3$	Yes
7.0	23,556	0.067	68.72	42.66	$4.44\times {10}^3$	Yes
7.5	23,436	0.066	59.53	43.64	$1.87\times {10}^3$	Yes
8.0	23,476	0.067	75.87	44.90	$3.98\times {10}^3$	Yes
8.5	23,664	0.067	86.04	45.65	$6.28\times {10}^3$	Yes
9.0	23,605	0.067	114.23	47.07	$2.35\times {10}^4$	No
9.5	23,595	0.067	132.36	50.07	$1.28\times {10}^4$	No
10	23,508	0.067	153.99	51.96	$1.10\times {10}^4$	No