Table 1 Comparison of evaluation metrics of path planning efficiency between EDG* and competitive algorithms on indoor environment maps of different sizes
From: Heuristic Expanding Disconnected Graph: A Rapid Path Planning Method for Mobile Robots
Metrics | Map size | 32 × 32 | 64 × 64 | 128 × 128 | 256 × 256 | 512 × 512 | 1024 × 1024 |
|---|---|---|---|---|---|---|---|
Number of iterations↓ | A* | 165 | 527 | 1739 | 6575 | 25009 | 97981 |
DA | 892 | 3568 | 14272 | 57088 | 228352 | 913408 | |
JPS | 24 | 29 | 28 | 28 | 28 | 28 | |
EDG* | 9 | 9 | 9 | 9 | 9 | 9 | |
Number of nodes↓ | A* | 1104 | 3842 | 13196 | 51175 | 197482 | 778684 |
DA | 6039 | 26259 | 109515 | 447291 | 1807899 | 7269339 | |
JPS | 33 | 38 | 37 | 37 | 37 | 37 | |
EDG* | 12 | 12 | 12 | 12 | 12 | 12 | |
Time↓(ms) | A* | 2.2 | 7.1 | 24.2 | 87.7 | 334.5 | 1350.1 |
DA | 10.5 | 41.6 | 167.7 | 646.9 | 2547.9 | 10280.6 | |
JPS | 0.3 | 0.7 | 2.4 | 8.8 | 34.7 | 139.0 | |
EDG* | 0.2 | 0.3 | 0.3 | 0.4 | 0.7 | 1.2 |