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Trajectory Planning on Complex-scene benchmark 24 goals
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6.8
Computation Time (ms)
GCOPTER
6.6
7.95
9.3
10.65
Nov 13, 2025
Computation Time (ms)
Traversal Time (s)
Path Length (m)
Jerk Integral (m/s^2)
Constraint Violation Rate (%)
Updated 22d ago
Evaluation Results
Method
Method
Links
Computation Time (ms)
Traversal Time (s)
Path Length (m)
Jerk Integral (m/s^2)
Constraint Violation Rate (%)
GCOPTER
vmax [m/s]=5.0
2025.11
6.8
6.1
18.8
19.8
0
MIGHTY
vmax [m/s]=4.0
2025.11
7.2
6
18.6
35.6
0
MIGHTY
vmax [m/s]=5.0
2025.11
7.2
5.3
18.7
43.7
0
GCOPTER
vmax [m/s]=1.0
2025.11
7.7
25.1
19.1
2.1
0
GCOPTER
vmax [m/s]=4.0
2025.11
7.7
6.9
18.8
17.6
0
MIGHTY
vmax [m/s]=3.0
2025.11
7.8
7.7
18.7
27.2
0
MIGHTY
vmax [m/s]=1.0
2025.11
8.1
21.5
18.8
6.9
0
MIGHTY
vmax [m/s]=2.0
2025.11
9.3
11
18.6
17.2
0
GCOPTER
vmax [m/s]=2.0
2025.11
9.8
12.6
19
7.9
0
GCOPTER
vmax [m/s]=3.0
2025.11
11.8
8.5
19
13.9
0
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