The Path Planning and Location Method of Inspection Robot in a Large Storage Tank Bottom

Figure 8

P and R curves of different algorithms at T₀ = 0, 0.2, 0.4, 0.6, 0.8, and 1.0 under three obstacle distributions. (a) P curve of different algorithms under obstacle distribution 1, (b) R curve of different algorithms under obstacle distribution 1, (c) P curve of different algorithms under obstacle distribution 2, (d) R curve of different algorithms under obstacle distribution 2, (e) P curve of different algorithms under obstacle distribution 3, and (f) R curve of different algorithms under obstacle distribution 3.

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