Brazilian jiu-jitsu is taught to many law enforcement and military personnel. Its advantage is that it teaches you how to fight from both good and bad positions, and you get nearly full-force (minus punches, kicks, etc) sparring (called "rolling") every class. It's hard to beat real experience against a fully-resisting opponent.

This is an excellent forum with many threads comparing judo with similar martial arts:

Judo Forum
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