Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem

Table 2

Quantitative comparison between the A-star applied on the OG and the proposed approach based on two different UAV sizes ( = 20 cm (case 1), = 40 cm (case 2)).

	A-star on the OG		Proposed approach
	case 1	case 2	case 1	case 2
Input data number	236644	61841	23324	7913
Path length (m)	9.03	11.08	9.95	11.41
Number of path points	155	209	126	142
Smallest dist. to obstacles (cm)	25.63	42.86	31.13	46.28
Mean of dist. to obstacles (cm)	40.18	50.51	48.42	56.88