Table 13 Obstacle density sensitivity analysis (20 runs per condition).
Density | Method | Success (%) | Path Len. (m) | Steps | Energy |
|---|---|---|---|---|---|
15% (Sparse) | E-APF | 100.0 | 263.11 | 46.00 | 50.46 |
DQN | 75.0 | \(568.62 \pm 185.66\) | \(114.07 \pm 42.88\) | \(184.44 \pm 81.29\) | |
APF-DQN | 100.0 | \(259.91 \pm 5.00\) | \(42.75 \pm 5.06\) | \(43.14 \pm 7.89\) | |
25% (Standard) | E-APF | 100.0 | 270.09 | 47.00 | 53.67 |
DQN | 100.0 | \(294.69 \pm 20.86\) | \(50.85 \pm 6.17\) | \(76.04 \pm 13.30\) | |
APF-DQN | 100.0 | \(262.85 \pm 4.18\) | \(41.30 \pm 0.84\) | \(49.55 \pm 2.05\) | |
35% (Dense) | E-APF | 80.0 | \(395.16 \pm 180.51\) | \(93.38 \pm 42.45\) | \(126.39 \pm 82.07\) |
DQN | 20.0 | \(451.09 \pm 53.16\) | \(141.00 \pm 29.47\) | \(164.02 \pm 12.37\) | |
APF-DQN | 100.0 | \(275.51 \pm 8.94\) | \(54.50 \pm 8.67\) | \(70.88 \pm 12.79\) |
