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

Table 3

Experimental data comparison of three algorithms in target node 1.

	PRM	Bidirectional PRM	Cubic spline bidirectional PRM
Path length/(m)	5.91	5.41	4.79
Path-finding time/(s)	0.391	0.282	0.342
Walking time/(s)	15.21	13.74	12.89