Research on Path Planning of Mobile Robot with a Novel Improved Artificial Potential Field Algorithm

Table 2

Algorithm comparison simulation data.

	Simulation time (s)	Number of iteration (s)	Planning efficiency^1 (improved)	Target convergence speed^2 (improved)
Classical APF method	0.1367	186	44.1%	26.3%
IAPF method	0.0765	137

Note: 1 planning efficiency = | (simulation time of the IAPF method − imulation time of the classical APF method) | /simulation time of the classical APF method. 2 target convergence speed = | (number of iterations of the IAPF method − number of iterations of the classical APF method) | /number of iterations of the classical APF method.