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

Table 2

Comparison of RPF with different ρ₀s and different ratios of K_att and K_rep under obstacle distribution 1 (bold indicates the best indicator and italics indicates the worst indicator).

ρ0	Katt, Krot	Krep	P (%)	R (%)	RMSE
1.5	100	100	—	—	—
1.5	150	100	—	—	—
1.5	200	100	86.91	78.81	0.2858
1.5	225	100	86.39	78.44	0.2845
1.5	250	100	85.96	78.36	0.2881
1.5	275	100	86.22	78.32	0.2818
1.5	300	100	86.26	78.32	0.2739
2.0	100	100	—	—	—
2.0	150	100	—	—	—
2.0	200	100	86.97	79.25	0.2816
2.0	225	100	87.18	79.05	0.2638
2.0	250	100	87.19	79.17	0.2627
2.0	275	100	87.40	79.25	0.2588
2.0	300	100	87.12	79.17	0.2628
2.5	100	100	—	—	—
2.5	150	100	86.60	78.52	0.2878
2.5	200	100	88.07	79.85	0.2650
2.5	225	100	87.38	79.41	0.2626
2.5	250	100	87.24	79.49	0.2651
2.5	275	100	87.46	79.41	0.2551
2.5	300	100	87.35	79.45	0.2611
3.0	100	100	—	—	—
3.0	150	100	87.45	79.33	0.2928
3.0	200	100	87.78	79.77	0.2598
3.0	225	100	87.35	79.45	0.2605
3.0	250	100	87.25	79.57	0.2678
3.0	275	100	87.56	79.57	0.2562
3.0	300	100	87.31	79.41	0.2561