Table 3 The ratio of evaluation metrics of path planning efficiency of EDG* to competitive algorithms on the maps in the 1024 × 1024 CSM
From: Heuristic Expanding Disconnected Graph: A Rapid Path Planning Method for Mobile Robots
Metrics | Number of iterations↓ | Number of nodes↓ | Time↓ | ||||||
|---|---|---|---|---|---|---|---|---|---|
Map number | EDG* VS | EDG* VS | EDG* VS | ||||||
A* (%) | DA (%) | JPS (%) | A* (%) | DA (%) | JPS (%) | A* (%) | DA (%) | JPS (%) | |
1 | 99.9 | 99.9 | 97.0 | 99.9 | 99.9 | 95.1 | 95.8 | 99.8 | 88.3 |
2 | 99.9 | 99.9 | 98.0 | 99.9 | 99.9 | 96.1 | 98.9 | 99.9 | 96.2 |
3 | 99.7 | 99.9 | 98.5 | 99.9 | 99.9 | 97.1 | 94.7 | 99.9 | 95.0 |
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28 | 99.1 | 99.9 | 85.7 | 99.8 | 99.9 | 83.1 | 96.0 | 99.9 | 96.7 |
29 | 99.3 | 99.9 | 97.4 | 99.8 | 99.9 | 95.6 | 95.8 | 99.9 | 98.4 |
30 | 99.5 | 99.9 | 98.3 | 99.9 | 99.9 | 97.2 | 95.4 | 99.9 | 97.7 |
Min. | 97.9 | 99.9 | 84.7 | 99.4 | 99.9 | 82.9 | 79.9 | 99.7 | 86.7 |
Avg. | 99.5 | 99.9 | 96.1 | 99.9 | 99.9 | 94.3 | 94.3 | 99.9 | 95.1 |
Max. | 99.9 | 99.9 | 99.4 | 99.9 | 99.9 | 99.2 | 99.2 | 99.9 | 99.7 |