Autonomous Navigation of Robots Based on the Improved Informed-RRT Algorithm and DWA

Table 2

Experimental results of the time consumption of path planning in raster maps with and without the improved-RRT algorithm.

	Informed-RRT algorithm		Improved Informed-RRT algorithm
	Path planning time (s)	Average time (s)	Path planning time (s)	Average time (s)
1	11.39	12.19	2.88	2.64
2	10.41		2.50
3	13.44		2.91
4	10.81		2.45
5	14.91		2.46