Planner Comparison

Comparing the geometric planners' effect on path cost over different pathfinding runtimes

Created on July 10|Last edited on July 12

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Key Takeawayslazyprmstar consistently has the lowest average and standard deviation path cost
Benefits from a greater number of runs (nr) more than a longer runtime (rs)
Benefits from a longer total runtime
﻿﻿Try even shorter runtimes?
Try more multi-query planners? https://ompl.kavrakilab.org/planners.html﻿
rrtconnect, lbtrrt, and lazylbtrrt had significantly higher path costs than the other planners, so filtered them out of the following plots
Single-query planners are much worse than multi-query ones
Total Runtime: 1 s﻿
rs=0.5; nr=2192
rs=1; nr=1192
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Total Runtime: 2 s﻿
rs=0.5; nr=4192
rs=1; nr=2192
rs=2; nr=1192
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Total Runtime: 4 s﻿
rs=0.5; nr=8192
rs=1; nr=4192
rs=2; nr=2192
rs=4; nr=1192
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