Results of a comparison of traffic-free path planning primitives

The dataset files are named as follows: p'x'.csv, where 'x' is the percentile used to filter data included in the file. Each file contains data of both considered scenarios.

The content of the datasets is organized in set a columns that represent the concrete test cases setup included in each row.

The columns order is:

1. ID: Test case identifier.
2. ID_num: Test case number.
3. Scenario: Scenario number.
4. RP select method: Referenc points selection method
5. Primitive: Primitive used in the test case
6. RP opt. method: Reference points optimization method
7. RP opt. algorithm: Reference points optimization algorithm
8. RP cost fcn.: Cost function used in reference points optimization
9. SP opt. method: Seeding points optimization method
10. SP opt. algorithm: Seeding points optimization algorithm
11. SP cost fcn.: Cost function used in seeding points optimization
12. Init. heading: Initial heading setting
13. Final heading: Final heading setting
14. Init. curv.: Initial curvature setting.
15. Final curv.: Final curvature setting.
16. K_t (exc. time): time KPI 
17. K_kmax: Maximum curvature KPI
18. K_k0: KPI related to curvature along the path
19. K_k1: KPI related to the first derivative of curvature along the path
20. K_k2: KPI related to the second derivative of curvature along the path
21. K_cl: KPI related to centreline offset.

For further details please find the paper in this link: https://doi.org/10.1109/ACCESS.2018.2839884, or contact the corresponding author at antonio.artunedo@car.upm-csic.es