TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers

Table 4

The comparison of the numerical results between the classical A algorithm and our method in the environment (Figure 6(b)). The time here refers to the expected running time of the planetary rovers from the start point to the end point.

Method	Time (s)	Length of path (m)
A algorithm	364.21	12.13
Our method	348.47	13.61
Change (%)	-4.32	+12.20