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

Table 4

Experimental data comparison of three algorithms in target node 2.

	PRM	Bidirectional PRM	Cubic spline bidirectional PRM
Path length/(m)	6.70	6.28	5.86
Path-finding time/(s)	0.519	0.365	0.476
Walking time/(s)	34.13	32.51	29.47