All results are computed from 100 runs of 800 iterations. These are presented as follows, Image: 2D environment, obstacles are red and free space is black. Costs: Solution cost as a function of iteration averaged over all runs. Times: Average completion time for 800 iterations, vertical bars indicate standard deviation. Collision Checking Procedures: Number of queries to the collision checker for 800 iterations averaged over all runs. Algorithms:
RRT: Rapidly-exploring Random Tree BiRRT: RRTConnect BiRRTbnb: RRTConnect (no termination condition and branch-and-bound) vRRT*: Vanilla RRT* (no heuristics) vBiRRT*: Vanilla Bidirectional RRT* (no heuristics) BiRRT*: Bidirectional RRT* with proposed heuristics RRT*: RRT* with proposed heuristics