Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem

Table 1

Smoothing results.

	case 1; = 20 cm	case 2; δ = 40 cm
Maximum allowed smoothing gap (cm)	42.59	32.58
Maximum smoothing gap (cm)	8.13	8.98
Smoothing gap mean (cm)	2.70	2.55