Path Planning of Mobile Robot Based on Improved PRM Based on Cubic Spline

Table 1

Comparison of experimental results of different maps.

Map model	Average search time/s			Average optimal path length
	PRM	Bidirectional PRM	Cubic spline bidirectional PRM	PRM	Bidirectional PRM	Cubic spline bidirectional PRM
Map 1	1.85	1.41	1.60	742.19	726.56	734.38
Map 2	1.72	1.54	1.56	732.18	718.75	710.94
Map 3	1.73	1.18	1.24	984.38	945.31	867.18