A Fusion Method of Local Path Planning for Mobile Robots Based on LSTM Neural Network and Reinforcement Learning

Table 10

Results of the FL, LSTM_FT, and LSTM_FTR models in Figure 21.

Figure 21	Success rate	Average decision time (s)	% of time saving than FL	Max turning angle (rad)	Avg turning angle (rad)
FL	64%	0.1396		2.2825	0.2616
LSTM_FT	68%	0.0256	81.6619	1.0297	0.1771
LSTM_FTR	93%	0.0253	81.8768	0.8500	0.1202