Biased Sampling Potentially Guided Intelligent Bidirectional RRT^∗ Algorithm for UAV Path Planning in 3D Environment

Table 1

Simulation result data.

Environment	Algorithm	Path cost (km)	Max iteration	Min iteration	Average iteration	Time (s)	Failed rate (%)
Map1	RRT^∗	203	15607	6870	13920.768	680.453	76
	B-RRT^∗	203	780	389	509.447	30.129
	PIB-RRT^∗	203	231	192	205.473	25.627	—
	tGSRT	204.861	316	121	198.65	54.982	—
	BPIB-RRT^∗	203	129	98	104.368	8.532	—
Map2	RRT^∗	202	15893	7378	12685.151	684.434	70
	B-RRT^∗	202	732	387	420.196	33.647
	PIB-RRT^∗	202	221	179	194.473	23.633	—
	tGSRT	205.797	433	192	278.35	60.663	—
	BPIB-RRT^∗	202	199	168	179.947	19.537	—
Map3	RRT^∗	168.656	17428	12453	15527.745	862.011	62
	B-RRT^∗	168.656	621	389	453.169	34.551
	PIB-RRT^∗	168.656	251	156	204.483	25.739	—
	tGSRT	195.709	754	636	705.974	45.422	—
	BPIB-RRT^∗	168.656	178	164	169.427	17.018	—