Spatio-Temporal Coding-Based Helicopter Trajectory Planning for Pulsed Neural Membrane System

Table 1

Comparison of track planning data of two algorithms.

Experimental scenario	Track planning algorithm	Original path length	Trim path length	Planning time	Number of search nodes
Scenario 1	Classic RRT	51.60	43.44	0.45	382
	PNMS	48.00	41.73	0.15	129
Scenario 2	Classic RRT	43.20	34.44	0.73	509
	PNMS	38.40	33.73	0.10	80