RRT Benchmark 测试案例

轻量静态 2D benchmark：7 个场景 × 3 个算法 × 7 个 seed。算法包括 RRT、RRT*、RRT-Connect。

RRTRRT*RRT-Connect

标准 benchmark 简述

OMPL benchmark + Planner Arena：运动规划领域常用标准方案，适合严肃 planner 对比，但需要 OMPL。
MoveIt benchmarking / MotionBenchMaker：适合机器人/机械臂场景，依赖 ROS/MoveIt 或数据集，较重。
PythonRobotics：RRT 系列教学示例，可参考实现，不是严格标准 benchmark。
本页面：无大型依赖的 2D 几何测试，适合快速回归和展示。

指标摘要

scenario	algorithm	success_rate	avg_time_sec	avg_path_length	avg_nodes_or_iterations	avg_collision_checks	failure_reason_summary
`open_space`	RRT	100.0% (7/7)	0.0027	128.82	102.1	217.6	`—`
`open_space`	RRT*	100.0% (7/7)	0.5859	128.24	1600.1	8403.7	`—`
`open_space`	RRT-Connect	100.0% (7/7)	0.0013	128.12	37	69.4	`—`
`narrow_passage`	RRT	100.0% (7/7)	0.0015	84.00	72.9	157.1	`—`
`narrow_passage`	RRT*	100.0% (7/7)	2.6579	84.00	3384.7	22437	`—`
`narrow_passage`	RRT-Connect	100.0% (7/7)	0.0004	84.00	20.3	23.6	`—`
`bug_trap`	RRT	100.0% (7/7)	0.0589	134.35	517.1	1873.7	`—`
`bug_trap`	RRT*	100.0% (7/7)	2.7765	121.52	3396.7	24227	`—`
`bug_trap`	RRT-Connect	100.0% (7/7)	0.0091	141.71	148	788.6	`—`
`cluttered`	RRT	100.0% (7/7)	0.0071	136.24	121.7	413.1	`—`
`cluttered`	RRT*	100.0% (7/7)	2.1376	128.45	2945.1	20513.1	`—`
`cluttered`	RRT-Connect	100.0% (7/7)	0.0042	131.05	45.9	245.4	`—`
`maze`	RRT	100.0% (7/7)	0.5235	334.23	1685.4	7706.4	`—`
`maze`	RRT*	100.0% (7/7)	3.2033	306.22	3576.9	31363.1	`—`
`maze`	RRT-Connect	100.0% (7/7)	0.2109	339.36	935.7	6962	`—`
`start_goal_near_obstacle`	RRT	100.0% (7/7)	0.1635	219.75	1006.7	4022.3	`—`
`start_goal_near_obstacle`	RRT*	100.0% (7/7)	1.4462	189.10	2412.4	18797.1	`—`
`start_goal_near_obstacle`	RRT-Connect	100.0% (7/7)	0.0521	231.53	408	3538	`—`
`long_distance`	RRT	100.0% (7/7)	0.0136	214.85	226.1	795.3	`—`
`long_distance`	RRT*	100.0% (7/7)	2.7183	191.33	3436.1	25789.7	`—`
`long_distance`	RRT-Connect	100.0% (7/7)	0.0073	208.86	105.1	565.9	`—`

场景可视化

`open_space`

Mostly open map with two small sparse rectangular obstacles.

`narrow_passage`

Vertical wall with a narrow central gate; tests passage discovery.

`bug_trap`

U-shaped trap opening away from the goal, plus a second gate near the goal side.

`cluttered`

Many rectangles create a cluttered static planning scene.

`maze`

Alternating walls form a simple maze-like corridor with a final right-side exit gap.

`start_goal_near_obstacle`

Start and goal are close to obstacle corners; tests collision margin behavior.

`long_distance`

Longer start-goal distance with sparse barriers over a 150x100 map.

详细运行结果

下表直接来自 rrt_benchmark_results.json，显示 7 个场景 × 3 个算法 × 7 个 seed 的全部 147 条运行结果，避免只看摘要时误以为部分算法结果缺失。

scenario	algorithm	seed	success	planning_time_sec	path_length	nodes	iterations	collision_checks	failure_reason
`open_space`	RRT	0	✅	0.0024	128.2344	85	93	191	`—`
`open_space`	RRT*	0	✅	0.5884	128.2891	1601	1600	8106	`—`
`open_space`	RRT-Connect	0	✅	0.0012	128.6441	32	4	58	`—`
`open_space`	RRT	1	✅	0.0026	130.3694	109	107	217	`—`
`open_space`	RRT*	1	✅	0.5864	129.0996	1601	1600	8149	`—`
`open_space`	RRT-Connect	1	✅	0.0013	127.9872	39	4	65	`—`
`open_space`	RRT	2	✅	0.0030	129.2088	113	119	243	`—`
`open_space`	RRT*	2	✅	0.5903	127.8347	1608	1600	8987	`—`
`open_space`	RRT-Connect	2	✅	0.0012	127.8386	35	7	67	`—`
`open_space`	RRT	3	✅	0.0030	128.2246	109	114	243	`—`
`open_space`	RRT*	3	✅	0.5903	127.8795	1605	1600	8636	`—`
`open_space`	RRT-Connect	3	✅	0.0013	127.7509	38	8	73	`—`
`open_space`	RRT	4	✅	0.0026	128.4510	103	103	216	`—`
`open_space`	RRT*	4	✅	0.5770	127.8808	1587	1600	8085	`—`
`open_space`	RRT-Connect	4	✅	0.0012	128.4081	32	4	58	`—`
`open_space`	RRT	5	✅	0.0016	128.3685	63	61	128	`—`
`open_space`	RRT*	5	✅	0.5870	128.3263	1607	1600	8204	`—`
`open_space`	RRT-Connect	5	✅	0.0015	128.1697	51	19	107	`—`
`open_space`	RRT	6	✅	0.0035	128.8499	133	139	285	`—`
`open_space`	RRT*	6	✅	0.5819	128.3751	1592	1600	8659	`—`
`open_space`	RRT-Connect	6	✅	0.0012	128.0484	32	4	58	`—`
`narrow_passage`	RRT	0	✅	0.0009	84.0000	50	54	112	`—`
`narrow_passage`	RRT*	0	✅	2.6284	84.0000	3413	3400	23332	`—`
`narrow_passage`	RRT-Connect	0	✅	0.0004	84.0000	20	1	24	`—`
`narrow_passage`	RRT	1	✅	0.0009	84.0000	52	50	106	`—`
`narrow_passage`	RRT*	1	✅	2.5533	84.0000	3349	3400	22306	`—`
`narrow_passage`	RRT-Connect	1	✅	0.0003	84.0000	20	1	23	`—`
`narrow_passage`	RRT	2	✅	0.0023	84.0000	99	111	229	`—`
`narrow_passage`	RRT*	2	✅	2.6177	84.0000	3397	3400	23226	`—`
`narrow_passage`	RRT-Connect	2	✅	0.0004	84.0000	21	1	24	`—`
`narrow_passage`	RRT	3	✅	0.0021	84.0000	98	100	214	`—`
`narrow_passage`	RRT*	3	✅	2.5982	84.0000	3388	3400	21885	`—`
`narrow_passage`	RRT-Connect	3	✅	0.0004	84.0000	21	1	25	`—`
`narrow_passage`	RRT	4	✅	0.0017	84.0000	81	85	172	`—`
`narrow_passage`	RRT*	4	✅	2.6922	84.0000	3355	3400	22157	`—`
`narrow_passage`	RRT-Connect	4	✅	0.0005	84.0000	20	1	23	`—`
`narrow_passage`	RRT	5	✅	0.0011	84.0000	55	55	111	`—`
`narrow_passage`	RRT*	5	✅	2.7462	84.0000	3391	3400	22974	`—`
`narrow_passage`	RRT-Connect	5	✅	0.0004	84.0000	20	1	23	`—`
`narrow_passage`	RRT	6	✅	0.0016	84.0000	75	75	156	`—`
`narrow_passage`	RRT*	6	✅	2.7693	84.0000	3400	3400	21179	`—`
`narrow_passage`	RRT-Connect	6	✅	0.0004	84.0000	20	1	23	`—`
`bug_trap`	RRT	0	✅	0.0622	136.3446	572	902	1927	`—`
`bug_trap`	RRT*	0	✅	2.3336	121.0060	3085	3800	21561	`—`
`bug_trap`	RRT-Connect	0	✅	0.0082	139.0891	139	251	733	`—`
`bug_trap`	RRT	1	✅	0.0796	141.1349	630	1087	2263	`—`
`bug_trap`	RRT*	1	✅	2.8008	122.9534	3408	3800	24525	`—`
`bug_trap`	RRT-Connect	1	✅	0.0129	134.6974	200	399	1096	`—`
`bug_trap`	RRT	2	✅	0.0711	138.6996	549	1068	2236	`—`
`bug_trap`	RRT*	2	✅	2.8139	121.4760	3425	3800	24575	`—`
`bug_trap`	RRT-Connect	2	✅	0.0050	137.5999	102	143	445	`—`
`bug_trap`	RRT	3	✅	0.0254	134.1953	333	545	1197	`—`
`bug_trap`	RRT*	3	✅	3.0328	122.2296	3562	3800	25139	`—`
`bug_trap`	RRT-Connect	3	✅	0.0069	151.3274	125	203	621	`—`
`bug_trap`	RRT	4	✅	0.0663	125.7063	578	895	1958	`—`
`bug_trap`	RRT*	4	✅	2.6563	120.6172	3357	3800	24468	`—`
`bug_trap`	RRT-Connect	4	✅	0.0091	134.2606	149	259	763	`—`
`bug_trap`	RRT	5	✅	0.0267	124.2703	329	574	1222	`—`
`bug_trap`	RRT*	5	✅	3.0270	120.6494	3545	3800	26179	`—`
`bug_trap`	RRT-Connect	5	✅	0.0154	160.0215	210	463	1252	`—`
`bug_trap`	RRT	6	✅	0.0808	140.0751	629	1071	2313	`—`
`bug_trap`	RRT*	6	✅	2.7712	121.6964	3395	3800	23142	`—`
`bug_trap`	RRT-Connect	6	✅	0.0060	135.0085	111	219	610	`—`
`cluttered`	RRT	0	✅	0.0054	128.9925	81	109	301	`—`
`cluttered`	RRT*	0	✅	2.1930	128.9742	2955	3000	21310	`—`
`cluttered`	RRT-Connect	0	✅	0.0048	128.0272	63	89	312	`—`
`cluttered`	RRT	1	✅	0.0068	140.4922	124	177	421	`—`
`cluttered`	RRT*	1	✅	2.1615	128.2923	2923	3000	21232	`—`
`cluttered`	RRT-Connect	1	✅	0.0042	130.6087	38	50	205	`—`
`cluttered`	RRT	2	✅	0.0100	145.6248	145	198	514	`—`
`cluttered`	RRT*	2	✅	2.1205	127.9909	2901	3000	20781	`—`
`cluttered`	RRT-Connect	2	✅	0.0053	137.8033	50	86	340	`—`
`cluttered`	RRT	3	✅	0.0072	142.4162	121	151	433	`—`
`cluttered`	RRT*	3	✅	2.2120	129.9439	2969	3000	19976	`—`
`cluttered`	RRT-Connect	3	✅	0.0040	129.7186	40	37	179	`—`
`cluttered`	RRT	4	✅	0.0063	133.2393	117	154	382	`—`
`cluttered`	RRT*	4	✅	2.1155	127.6702	2974	3000	19622	`—`
`cluttered`	RRT-Connect	4	✅	0.0038	130.2173	42	63	244	`—`
`cluttered`	RRT	5	✅	0.0072	130.4334	122	182	425	`—`
`cluttered`	RRT*	5	✅	2.0640	127.9206	2936	3000	20082	`—`
`cluttered`	RRT-Connect	5	✅	0.0037	129.7779	41	54	216	`—`
`cluttered`	RRT	6	✅	0.0070	132.4471	142	163	416	`—`
`cluttered`	RRT*	6	✅	2.0969	128.3319	2958	3000	20589	`—`
`cluttered`	RRT-Connect	6	✅	0.0035	131.2003	47	55	222	`—`
`maze`	RRT	0	✅	0.6828	332.0164	1961	3822	8905	`—`
`maze`	RRT*	0	✅	2.9976	302.6322	3464	5200	31167	`—`
`maze`	RRT-Connect	0	✅	0.2706	330.3947	1111	2920	8232	`—`
`maze`	RRT	1	✅	0.5938	319.7014	1845	3421	7948	`—`
`maze`	RRT*	1	✅	3.3028	310.5630	3600	5200	30537	`—`
`maze`	RRT-Connect	1	✅	0.1135	346.3600	679	1661	4825	`—`
`maze`	RRT	2	✅	0.4576	343.7190	1494	3113	7326	`—`
`maze`	RRT*	2	✅	3.6011	306.6882	3818	5200	34624	`—`
`maze`	RRT-Connect	2	✅	0.2658	339.7888	1111	3017	8530	`—`
`maze`	RRT	3	✅	0.4432	345.4164	1578	3061	7232	`—`
`maze`	RRT*	3	✅	2.6954	309.6607	3241	5200	26984	`—`
`maze`	RRT-Connect	3	✅	0.3023	355.5003	1229	2996	8604	`—`
`maze`	RRT	4	✅	0.3550	334.4112	1335	2841	6824	`—`
`maze`	RRT*	4	✅	3.5931	303.2871	3845	5200	33987	`—`
`maze`	RRT-Connect	4	✅	0.2273	341.3558	898	2307	6538	`—`
`maze`	RRT	5	✅	0.4617	328.6606	1633	2985	7026	`—`
`maze`	RRT*	5	✅	3.2271	306.0353	3631	5200	33061	`—`
`maze`	RRT-Connect	5	✅	0.2026	327.4579	930	2591	7221	`—`
`maze`	RRT	6	✅	0.6704	335.6839	1952	3698	8684	`—`
`maze`	RRT*	6	✅	3.0059	304.6750	3439	5200	29182	`—`
`maze`	RRT-Connect	6	✅	0.0946	334.6825	592	1640	4784	`—`
`start_goal_near_obstacle`	RRT	0	✅	0.1301	201.2995	913	1747	3834	`—`
`start_goal_near_obstacle`	RRT*	0	✅	1.6292	187.6889	2611	3300	19636	`—`
`start_goal_near_obstacle`	RRT-Connect	0	✅	0.1434	263.2906	834	2229	5942	`—`
`start_goal_near_obstacle`	RRT	1	✅	0.2882	222.1045	1428	2281	5060	`—`
`start_goal_near_obstacle`	RRT*	1	✅	1.2774	187.7114	2271	3300	16674	`—`
`start_goal_near_obstacle`	RRT-Connect	1	✅	0.0434	217.1623	363	1426	3735	`—`
`start_goal_near_obstacle`	RRT	2	✅	0.1431	229.9611	978	1589	3573	`—`
`start_goal_near_obstacle`	RRT*	2	✅	1.5684	189.3866	2538	3300	19249	`—`
`start_goal_near_obstacle`	RRT-Connect	2	✅	0.0356	216.6319	327	1311	3350	`—`
`start_goal_near_obstacle`	RRT	3	✅	0.2336	235.4203	1303	2220	5007	`—`
`start_goal_near_obstacle`	RRT*	3	✅	1.7610	194.3298	2678	3300	24710	`—`
`start_goal_near_obstacle`	RRT-Connect	3	✅	0.0275	229.6890	260	992	2622	`—`
`start_goal_near_obstacle`	RRT	4	✅	0.1242	212.0907	867	1760	3847	`—`
`start_goal_near_obstacle`	RRT*	4	✅	1.8136	186.9121	2773	3300	19738	`—`
`start_goal_near_obstacle`	RRT-Connect	4	✅	0.0241	246.1836	260	888	2446	`—`
`start_goal_near_obstacle`	RRT	5	✅	0.1480	213.4891	902	1741	3863	`—`
`start_goal_near_obstacle`	RRT*	5	✅	0.9398	186.5669	1903	3300	13983	`—`
`start_goal_near_obstacle`	RRT-Connect	5	✅	0.0365	216.5519	378	993	2840	`—`
`start_goal_near_obstacle`	RRT	6	✅	0.0773	223.8802	656	1317	2972	`—`
`start_goal_near_obstacle`	RRT*	6	✅	1.1342	191.1190	2113	3300	17590	`—`
`start_goal_near_obstacle`	RRT-Connect	6	✅	0.0539	231.1796	434	1467	3831	`—`
`long_distance`	RRT	0	✅	0.0097	195.6262	189	264	644	`—`
`long_distance`	RRT*	0	✅	2.7666	192.4994	3425	3600	25688	`—`
`long_distance`	RRT-Connect	0	✅	0.0052	195.1612	72	66	322	`—`
`long_distance`	RRT	1	✅	0.0249	214.3049	358	468	1115	`—`
`long_distance`	RRT*	1	✅	2.7880	188.9744	3488	3600	24103	`—`
`long_distance`	RRT-Connect	1	✅	0.0063	215.7277	93	128	469	`—`
`long_distance`	RRT	2	✅	0.0081	205.0904	148	213	562	`—`
`long_distance`	RRT*	2	✅	2.6712	190.9663	3419	3600	24819	`—`
`long_distance`	RRT-Connect	2	✅	0.0047	204.3177	72	100	371	`—`
`long_distance`	RRT	3	✅	0.0138	209.9455	234	374	916	`—`
`long_distance`	RRT*	3	✅	2.5962	190.9537	3362	3600	26861	`—`
`long_distance`	RRT-Connect	3	✅	0.0153	213.0097	209	422	1237	`—`
`long_distance`	RRT	4	✅	0.0147	270.8736	220	398	887	`—`
`long_distance`	RRT*	4	✅	2.7850	190.5654	3485	3600	27355	`—`
`long_distance`	RRT-Connect	4	✅	0.0092	212.2125	141	241	777	`—`
`long_distance`	RRT	5	✅	0.0164	201.2063	284	382	930	`—`
`long_distance`	RRT*	5	✅	2.7355	192.8293	3457	3600	24948	`—`
`long_distance`	RRT-Connect	5	✅	0.0053	211.5468	75	98	380	`—`
`long_distance`	RRT	6	✅	0.0075	206.8966	150	190	513	`—`
`long_distance`	RRT*	6	✅	2.6852	192.5008	3417	3600	26754	`—`
`long_distance`	RRT-Connect	6	✅	0.0055	210.0576	74	105	405	`—`

RRT Benchmark 测试案例

标准 benchmark 简述

指标摘要

场景可视化

open_space

narrow_passage

bug_trap

cluttered

maze

start_goal_near_obstacle

long_distance