Table 3 Comparison of three kinds of grid map experiment simulation data.
From: Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot
Map type | Path parameter | Traditional A* algorithm | Improved A* algorithm | Reduction ratio |
|---|---|---|---|---|
Map1 (20 × 20) | Planning time/s | 0.830 | 0.742 | 10.602% |
Number of nodes | 202 | 182 | 9.900% | |
run time/s | 60.486 | 58.558 | 3.188% | |
Number of inflection points | 4 | 1 | 75% | |
Total turning angle | 405 | 100.620 | 75.156% | |
Total distance length | 30.243 | 29.279 | 3.188% | |
Map 2 (30 × 30) | Planning time /s | 2.055 | 1.935 | 5.839% |
Number of nodes | 365 | 401 | − 9.863% | |
run time /s | 94.912 | 90.732 | 4.404% | |
Number of inflection points | 11 | 2 | 81.818% | |
Total turning angle | 1440 | 429.448 | 70.177% | |
Total distance length | 47.456 | 45.366 | 4.404% | |
Map 3 (50 × 50) | Planning time /s | 6.548 | 6.505 | 0.657% |
Number of nodes | 853 | 796 | 6.682% | |
run time /s | 77.355 | 71.948 | 6.990% | |
Number of inflection points | 18 | 8 | 55.556% | |
Total turning angle | 2700 | 934.270 | 65.397% | |
Total distance length | 77.355 | 71.948 | 6.989% |
