Table 4 The ratio of evaluation metrics of path quality 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 turns↓ | Number of corners↓ | Length↓ | ||||||
|---|---|---|---|---|---|---|---|---|---|
Map number | EDG* VS | EDG* VS | EDG* VS | ||||||
A* (%) | DA (%) | JPS (%) | A* (%) | DA (%) | JPS (%) | A* (%) | DA (%) | JPS (%) | |
1 | 95.8 | 52.6 | 91.3 | 99.9 | 99.9 | 99.9 | 6.5 | 3.2 | 3.2 |
2 | 84.7 | 91.1 | 84.7 | 99.9 | 99.9 | 99.9 | 4.8 | 4.1 | 4.1 |
3 | 98.7 | 96.9 | 98.6 | 99.9 | 99.9 | 99.9 | 5.8 | 4.8 | 4.8 |
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28 | 60.0 | 53.8 | 60.0 | 99.9 | 99.9 | 99.9 | 2.3 | 2.3 | 2.3 |
29 | 76.2 | 90.6 | 76.2 | 96.6 | 96.9 | 96.6 | 2.9 | 2.9 | 2.9 |
30 | 93.8 | 93.8 | 93.8 | 95.1 | 94.0 | 95.1 | 4.0 | 4.0 | 4.0 |
Min. | 46.2 | 33.3 | 46.2 | 87.5 | 83.0 | 93.0 | 0.8 | 0.8 | 0.8 |
Avg. | 85.3 | 81.9 | 84.8 | 98.8 | 98.5 | 99.1 | 4.9 | 3.7 | 3.7 |
Max. | 98.7 | 98.9 | 98.6 | 99.9 | 99.9 | 99.9 | 12.0 | 5.7 | 5.7 |