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

Table 6

Algorithm comparison on simulation data.

		Simulation time (s)	Path length (m)	Number of iterations	Planning efficiency (improved)	Path length^1 (decreased) (%)	Target convergence speed (improved)
Simulation one	APF	0.1234	19.2	186	44.6	10.4	29.1
	IAPF	0.0683	17.2	132
Simulation two	APF	0.1354	18.7	174	37.2	8.5	27.0
	IAPF	0.0853	17.1	127
Simulation three	APF	0.1172	18.6	183	46.8	6.9	22.4
	IAPF	0.0723	17.3	142
Average planning efficiency (increased)						42.8%
Average path length (decreased)						8.6%
Average convergence speed (increased)						26.1%

Note:1 path length: | (path length of IAPF − path length of APF) | /path length of APF.