Table 4 Aggregated navigation performance (average across all maps).

From: Autonomous navigation in unstructured outdoor environments using semantic segmentation guided reinforcement learning

Method

Avg. success rate (%)

Avg. time to goal (s)

Avg. lateral deviation (m)

Avg. collisions/episode

21

70.5

29.8

0.55

1.1

46

81.1

24.1

0.40

0.6

24

77.2

26.3

0.48

0.8

25

81.7

23.9

0.39

0.5

53

82.2

22.8

0.35

0.4

54

82.8

22.5

0.34

0.4

Our

86.7

21.3

0.31

0.2

  1. Bold numbers represent the best values for each metric (success rate, completion time, lateral deviation, and collision frequency) averaged across all maps.
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