Path Planning with Obstacle Avoidance Based on Normalized R-Functions

Table 1

The time is spent on planning paths for O₅’s arc with various discrete approximations.

The number of discrete straight-line segments for arc c	4	6	10	30	100
The time is spent on; planning paths(s)	0.6262	0.6434	0.6790	0.92846	1.9188