Table 4.
Performance Comparison of the Five Algorithms in Ordinary Environments in Four Cases.
| Case | Performance Indicator | Algorithm 1 | Algorithm 2 | Algorithm 3 | Algorithm 4 | Proposed Algorithm |
|---|---|---|---|---|---|---|
| 1 | Planning time (s) | 29.583 | 11.176 | 10.740 | 13.823 | 10.338 |
| Planning length (m) | 1695.393 | 1816.817 | 1731.559 | 1708.821 | 1679.052 | |
| Number of inflection points | 56 | 61 | 52 | 39 | 35 | |
| 2 | Planning time (s) | 25.235 | 10.861 | 9.198 | 11.043 | 8.977 |
| Planning length (m) | 1468.860 | 1647.985 | 1502.314 | 1532.208 | 1443.670 | |
| Number of inflection points | 36 | 54 | 40 | 32 | 26 | |
| 3 | Planning time (s) | 26.402 | 12.400 | 11.271 | 13.043 | 9.853 |
| Planning length (m) | 1566.704 | 1691.964 | 1629.008 | 1630.361 | 1542.882 | |
| Number of inflection points | 51 | 70 | 49 | 42 | 34 | |
| 4 | Planning time (s) | 21.743 | 8.671 | 8.231 | 11.562 | 8.174 |
| Planning length (m) | 1230.362 | 1339.065 | 1276.521 | 1298.388 | 1210.675 | |
| Number of inflection points | 32 | 44 | 39 | 29 | 26 |