Table 4 Comparison of computational complexity in different environments.
From: Global and local path planning of robots combining ACO and dynamic window algorithm
Map scale | Obstacle density | RRT-GOPP | TS-ACCRPP | TDI-MSACO | RL-DEPP | Research method |
|---|---|---|---|---|---|---|
20 × 20 | 10% | 0.52s | 0.46s | 0.42s | 0.38s | 0.34s |
30% | 0.75s | 0.68s | 0.64s | 0.54s | 0.49s | |
50% | 1.02s | 0.91s | 0.85s | 0.73s | 0.69s | |
70% | 1.45s | 1.22s | 1.15s | 0.94s | 0.88s | |
30 × 30 | 10% | 1.12s | 0.95s | 0.91s | 0.79s | 0.73s |
30% | 1.88s | 1.64s | 1.58s | 1.25s | 1.14s | |
50% | 2.63s | 2.27s | 2.19s | 1.86s | 1.72s | |
70% | 3.41s | 2.89s | 2.79s | 2.32s | 2.15s | |
50 × 50 | 10% | 4.35s | 3.76s | 3.64s | 2.89s | 2.64s |
30% | 6.92s | 5.87s | 5.67s | 4.32s | 3.98s | |
50% | 9.74s | 8.21s | 7.98s | 6.34s | 5.76s | |
70% | 13.61s | 11.22s | 10.95s | 8.87s | 7.82s | |
70 × 70 | 10% | 19.52s | 16.84s | 15.96s | 12.45s | 11.23s |
30% | 32.86s | 28.42s | 26.85s | 20.67s | 18.94s | |
50% | 47.13s | 39.87s | 38.34s | 29.34s | 27.14s | |
70% | 62.41s | 54.21s | 51.72s | 39.82s | 36.45s |
