Automatic Recharging Path Planning for Cleaning Robots

Figure 13

Comparison of evaluation indicators on Map 1. (a) The best path length comparison. (b) The worst path length comparison. (c) Average path length comparison. (d) Average computing time comparison. (e) Average iterative convergence time comparison. (f) Standard deviation comparison.

(a)

(b)

(c)

(d)

(e)

(f)