Table 2 Comparison of evaluation metrics of path quality 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 turns↓ | A* | 7 | 11 | 11 | 11 | 11 | 11 |
DA | 9 | 9 | 9 | 9 | 9 | 9 | |
JPS | 7 | 7 | 7 | 7 | 7 | 7 | |
EDG* | 4 | 4 | 4 | 4 | 4 | 4 | |
Number of corners↓ | A* | 4 | 6 | 6 | 6 | 6 | 6 |
DA | 4 | 4 | 4 | 4 | 4 | 4 | |
JPS | 4 | 4 | 4 | 4 | 4 | 4 | |
EDG* | 0 | 0 | 0 | 0 | 0 | 0 | |
Length↓ | A* | 48.5 | 107.3 | 215.2 | 431.0 | 862.5 | 1725.6 |
DA | 48.5 | 98.5 | 198.4 | 398.1 | 797.7 | 1596.8 | |
JPS | 48.5 | 98.5 | 198.4 | 398.1 | 797.7 | 1596.8 | |
EDG* | 47.8 | 95.1 | 189.8 | 379.5 | 758.9 | 1517.7 |