Table 3. Path planning results at 1000, 1500, 2000 and 2500 iterations for 2-D case 1, 2, 3 & 3000, 3500, 4000, and 4500 iterations for 2-D case 4

환경	알고리즘	Biasing Ratio	Biasing Radius	평균 비용 (n=1000)	평균 비용 (n=1500)	평균 비용 (n=2000)	평균 비용 (n=2500)	최적 비용
2-D Case1	RRT*	×		89.94	86.75	86.7	86.36	83.03
	RRT*-Smart	2	3	85.35	84.30	84.27	84.27
	mRRT*-Smart			84.12	83.99	83.95	83.95
2-D Case2	RRT*	×		135.8	123.9	122.5	122.4	117.2
	RRT*-Smart	2	3	130.2	123.8	121.6	119.8
	mRRT*-Smart			129.5	124.3	120.9	118.2
2-D Case3	RRT*	×		100.0	97.8	96.6	94.2	84.9
	RRT*-Smart	2	3	99.8	95.8	92.7	91.9
	mRRT*-Smart			99.7	92.4	88.4	86.6
2-D Case4	RRT*	×		143.9	132.5	130.1	128.7	118.8
	RRT*-Smart	2	3	136.4	129.5	128.9	123.2
	mRRT*-Smart			135.9	124.3	121.9	120.8