Research Article
The Path Planning and Location Method of Inspection Robot in a Large Storage Tank Bottom
Table 1
Comparison of path planning results of different algorithms under different obstacle distributions.
| | Methods | Obstacles 1 (m = 39, ρ0 = 1.5) | Obstacles 2 (m = 36, ρ0 = 1.0) | Obstacles 3 (m = 20, ρ0 = 0.8) | | P↑ (%) | R↑ (%) | RMSE (×102) | P↑ (%) | R↑ (%) | RMSE (×102) | P↑ (%) | R↑ (%) | RMSE (×102) |
| | APF [24] | — | — | — | — | — | — | — | — | — | | VT [33] | 71.07 | 66.94 | 34.79 | 84.07 | 80.30 | 26.38 | 91.68 | 88.09 | 14.23 | | IAPF [34] | 77.28 | 72.79 | 30.23 | 86.02 | 81.51 | 16.19 | 92.78 | 89.79 | 14.17 | | RPF (Our) | 77.53 | 72.99 | 26.64 | 86.55 | 82.12 | 15.63 | 92.55 | 90.27 | 13.08 | | APF + IR [24] | — | — | — | — | — | — | — | — | — | | VT + IR [33] | 83.33 | 75.66 | 33.53 | 90.25 | 85.91 | 22.21 | 94.08 | 91.16 | 13.70 | | IAPF + IR [34] | 85.78 | 77.96 | 29.48 | 91.94 | 87.08 | 13.97 | 94.54 | 91.64 | 12.17 | | RPF + IR (Our) | 86.04 | 78.16 | 28.63 | 92.11 | 87.20 | 13.65 | 95.06 | 91.76 | 11.39 |
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Bold indicates the best indicator.
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