Comparison of optimization results under different navigation boundaries
| Navigation boundary level | Original nodes/Optimization nodes | Original path length/km | Smoothed path length/km | The shortest distance between the original path and the obstacle/m | The shortest distance between the smoothed path and the obstacle/m |
|---|---|---|---|---|---|
| 0 | 537/357 | 9.53 | 9.04 | 112.16 | 126.74 |
| 1 | 490/273 | 9.00 | 8.66 | 106.89 | 108.42 |
| 2 | 464/234 | 8.76 | 8.47 | 61.08 | 51.92 |
| 3 | 448/213 | 8.62 | 8.40 | 45.81 | 42.32 |
| 4 | 439/183 | 8.53 | 8.35 | 42.76 | 40.59 |
| 5 | 432/116 | 8.47 | 8.34 | 15.27 | 16.80 |
| Original nodes/Optimization nodes | Original path length/km | Smoothed path length/km | The shortest distance between the original path and the obstacle/m | The shortest distance between the smoothed path and the obstacle/m | |
|---|---|---|---|---|---|
| 537/357 | 9.53 | 9.04 | 112.16 | 126.74 | |
| 490/273 | 9.00 | 8.66 | 106.89 | 108.42 | |
| 464/234 | 8.76 | 8.47 | 61.08 | 51.92 | |
| 448/213 | 8.62 | 8.40 | 45.81 | 42.32 | |
| 439/183 | 8.53 | 8.35 | 42.76 | 40.59 | |
| 432/116 | 8.47 | 8.34 | 15.27 | 16.80 |