Table 3 Consolidated results and analysis of experimental outcomes.
From: Hybrid path planning algorithm for underactuated AUV based on RRT star and APF
Algorithm | Average path length | Average Time consumption (s) | Average Node Count | Average maximum turning angle | Average iteration count | Percentage of instances exceeding 35° maximum turning angle (%) | Shortest path length | Shortest Path time consumption (s) | Path planning success rate (%) |
|---|---|---|---|---|---|---|---|---|---|
RRT | 2094.2 | 1.06 | 403 | 89.7 | 1766.3 | 100 | 2014.7 | 1.05 | 77 |
APF-RRT | 2001.8 | 2.01 | 376 | 96.4 | 1519.61 | 100 | 1875.8 | 1.9 | 97 |
IAPF-RRT | 1810.5 | 1.23 | 322 | 68.2 | 690.43 | 100 | 1799.2 | 1.27 | 100 |
RRT* | 1813.7 | 1.57 | 127.7 | 42.9 | 1759.02 | 92 | 1773.6 | 1.51 | 80 |
DCGB-DAPF-RRT* | 1806.0 | 0.53 | 93.1 | 25.8 | 267.25 | 0 | 1804.5 | 0.48 | 100 |
Shortest path smoothness processing | – | – | – | – | – | 0 | 1766.1 | – | – |
