Table 6 Comparison of evaluation metrics defined in Experiment 3 between EDG* and competitive algorithms on 113200 path planning problems in the 1024 × 1024 CSM
From: Heuristic Expanding Disconnected Graph: A Rapid Path Planning Method for Mobile Robots
Metrics | A* | DA | JPS | EDG* |
|---|---|---|---|---|
TT (ms) ↓ | 56510903 | 592191778 | 10739162 | 435590 |
AT (ms) ↓ | 499.2 | 5231.4 | 94.9 | 3.8 |
TRÂ (%) | 99.2 | 99.9 | 95.9 | / |
TBL | 85561250 | |||
ABL | 755.8 | |||
TL↓ | 86586680 | 85319950 | 85319950 | 81426090 |
AL↓ | 764.9 | 753.7 | 753.7 | 719.3 |
LORÂ (%) | 6.0 | 4.6 | 4.6 | / |
NPS↑ | 113193 | 113193 | 113193 | 113200 |
NPI↓ | 7 | 7 | 7 | 0 |
NOPL↑ | 74588 | 113101 | 113101 | 113195 |
OPLR↑ (%) | 65.9 | 99.9 | 99.9 | 100.0 |
TMPT (ms)↑ | 0 | 0 | 0 | 3325 |
AMPT (ms)↑ | 0 | 0 | 0 | 0.03 |