Graphics showing all of the asteroids and comets visited by spacecraft as at 18 August 2020.
Not to scale, but sized and distributed to give an idea of increasing size and distance.
If you use it, make sure you credit the sources.
The Trans-Neptunian Object 486958 Arrokoth isn’t included, but as at 1 January 2019 it became the farthest object in the Solar System to be visited by a spacecraft, at 44.58 AU.
To understand the difference between asteroids and comets, read Asteroid vs Comet. To understand the different asteroid spectral types, read History of Asteroid Classification.
Click here to view a comparative graphic of the 22 largest objects in the asteroid belt.