Table 2 Trajectory cost function values.
No | Jc | Je | Jd | J | tdec | tlc | tacc | ttotal | |
|---|---|---|---|---|---|---|---|---|---|
No Rule | 1 | − 0.33 | 3.32 × 105 | 6.85 × 104 | 3.99 × 105 | 0 | 3 | 0 | 3 |
2 | − 0.58 | 3.32 × 105 | 7.79 × 104 | 4.09 × 105 | 0 | 2.55 | 0 | 2.55 | |
3 | -4.66 | 1.33 × 105 | 1.01 × 105 | 2.41 × 105 | 0.78 | 2.42 | 1.44 | 4.64 | |
4 | 2.95 | − 4.73 × 105 | 1.19 × 105 | − 3.54 × 105 | 2.75 | 3.09 | 5.03 | 10.87 | |
5 | 1.52 | − 8.31 × 105 | 1.39 × 105 | − 6.92 × 105 | 4.17 | 4.11 | 7.64 | 15.92 | |
Preset instability rule | 1 | − 0.31 | 3.32 × 105 | 6.75 × 104 | 3.99 × 105 | 0 | 3 | 0 | 3 |
2 | − 0.32 | 3.32 × 105 | 7.67 × 104 | 4.09 × 105 | 0 | 2.55 | 0 | 2.55 | |
3 | − 0.94 | 3.32 × 105 | 9.26 × 104 | 4.25 × 105 | 0 | 2.10 | 0 | 2.10 | |
4 | − 0.81 | 7.93 × 104 | 9.72 × 104 | 1.77 × 105 | 0.98 | 1.98 | 1.8 | 4.76 | |
5 | 1.76 | − 6.26 × 105 | 1.30 × 105 | − 4.96 × 105 | 2.45 | 2.06 | 4.5 | 9.01 | |
Preset collision rules | 1 | 1.73 | 1.69 × 105 | 6.32 × 104 | 2.32 × 105 | 0.64 | 3.36 | 1.17 | 5.17 |
2 | 1.42 | 2.54 × 105 | 7.80 × 104 | 3.32 × 105 | 0.39 | 2.73 | 0.61 | 3.73 | |
3 | − 4.66 | 1.33 × 105 | 1.01 × 105 | 2.41 × 105 | 0.78 | 2.42 | 1.44 | 4.64 |
