An Improved VFF Approach for Robot Path Planning in Unknown and Dynamic Environments

Table 3

The performance comparison among the three methods in the case of zero force.

The navigation approach	Required time to the target	Average rotation angle of each step
The T-VFF based method	/	/
The V-VFF based method	15.3 s	11.2^∘
The P-VFF based method	12.4 s	9.7^∘