Table II. Performance of different path planning technique in Phase I of evaluation Table III. Performance of different path planning technique in Phase II of evaluation Conventional Technique Soft Computing Techniques Road Map Sl. Artificial Graph Neural Genetic Fuzzy Factors Vector Field Voronoi No Potential Searching Network Algorithm Logic Visibility Histogram [90] Diagram Field [89] Technique [93] [94] [95] [96] Graph [91] [92] Shortest Path 1 distance (SPD) 35.43 99.45 41.67 40.21 37.22 34.65 34.11 35.32 (m) Obstacle 2 Avoidance 3.5 3.2 3.45 3.107 2.73 4 3.99 3.83 (OA) (mm) Elapsed Time 3 3 9.55 10.78 9.32 10.47 8.21 8.2 8.99 (ET) (min) Conventional Techniques Soft Computing Techniques Hybrid Techniques Road Map Ant Colony Artificial Genetic Swarm Ant Colony Ant Colony + Sl. Factors + Genetic Voronoi Potential Algorithm Optimization Optimization Logic Visibility No Algorithm Diagram Field [97] [100] [101] [102] [104] [98] [103] [99] Shortest Path 1 Distance (SPD) 39.21 42.34 39.59 36.25 35.51 34.98 36.92 37.97 (m) Obstacle 2 Avoidance (OA) 3.36 2.91 3.89 3.91 4.01 4.1 4.07 2.87 (mm) Elapsed Time 3 37.54 38.62 38.83 36.69 35.92 35.027 36.309 37.1 (ET) (min)
Table II. Performance of different path planning technique in Phase I of evaluation Sl. No Factors Conventional Technique Soft Computing Techniques Artificial Potential Field [89] Vector Field Histogram [90] Road Map Graph Searching Technique [93] Neural Network [94] Genetic Algorithm [95] Fuzzy Logic [96] Visibility Graph [91] Voronoi Diagram [92] 1 Shortest Path distance (SPD) (m) 35.43 99.45 41.67 40.21 37.22 34.65 34.11 35.32 2 Obstacle Avoidance (OA) (mm) 3.5 3.2 3.45 3.107 2.73 4 3.99 3.83 3 Elapsed Time (ET) (min) 3 9.55 10.78 9.32 10.47 8.21 8.2 8.99 Table III. Performance of different path planning technique in Phase II of evaluation Sl. No Factors Conventional Techniques Soft Computing Techniques Hybrid Techniques Artificial Potential Field [97] Road Map Genetic Algorithm [100] Swarm Optimization [101] Ant Colony Optimization [102] Ant Colony + Genetic Algorithm [103] Ant Colony + Logic [104] Visibility [98] Voronoi Diagram [99] 1 Shortest Path Distance (SPD) (m) 39.21 42.34 39.59 36.25 35.51 34.98 36.92 37.97 2 Obstacle Avoidance (OA) (mm) 3.36 2.91 2.87 3.89 3.91 4.01 4.1 4.07 3 Elapsed Time (ET) (min) 37.54 38.62 38.83 36.69 35.92 35.027 36.309 37.1
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