基于语义分割的启发式采样路径规划算法

潘嘉威,王淳立,郑秀娟,涂海燕

Heuristic sampling path planning algorithm based on semantic segmentation

Jiawei PAN,Chunli WANG,Xiujuan ZHENG,Haiyan TU

表 3 不同算法的路径规划性能参数对比（真实环境测试）

Tab.3 Comparison of path planning performance parameters of different algorithms (real-world environment testing)

算法 $ \overline{t}_{\mathrm{c}} $/s $ \overline{N} $ $ \overline{L} $ RRT 1.573 405 1 498 RRT-Connect 0.607 228 1 465 文献[27] 0.852 265 1 541 本研究 0.503 141 1 302