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

Table 9

Results of the FL, LSTM_FT, and LSTM_FTR models in Figure 19.

Figure 19	FL		LSTM_FT		LSTM_FTR
	Path length	Average decision time (s)	Path length	Average decision time (s)	Path length	Average decision time (s)
a	29.5418	0.4906	29.5878	0.3619	29.5469	0.3747
b	37.4485	0.6677	37.5232	0.4496	36.8804	0.4528
c	46.3133	0.5446	46.7485	0.4197	40.9222	0.4131
d	38.2498	0.5212	39.8980	0.3928	33.7467	0.3813
e	70.0993	0.6475	71.1376	0.5141	72.0711	0.5174
f					59.1128	0.7891