Table 5 Evaluation metrics defined in Experiment 3
From: Heuristic Expanding Disconnected Graph: A Rapid Path Planning Method for Mobile Robots
Metrics | The definition of metrics |
|---|---|
TT (ms) | Total time required for path planning 113200 times |
AT (ms) | Average time spent on one path planning |
TR | Time optimization rate of EDG* compared to competitive algorithms. It can be calculated by Eq. (3) |
TBL | Sum of benchmarks’ optimal length |
ABL | Average of benchmarks’ optimal length |
TL | Total length of 113200 path planning problem |
AL | Average length of 113200 path planning problem |
LOR | Length optimization rate of EDG* compared to competitive algorithms. It can be calculated by Eq. (3) |
NPS | Number of paths solved |
NPI | Number of paths with no solution or invalid |
NOPL | Number of optimum path lengths |
OPLR | Optimum path length ratio |
TMPT (ms) | Total map pre-processing time required for path planning 113200 times |
AMPT (ms) | Average map pre-processing time required for path planning 113200 times |