Table 5 Average time table of inserted node planning path.

From: Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot

 

Total number of nodes

Number of inserted nodes

8

9

10

1

4.674

26.323

126.589

2

2.268

5.356

27.453

3

1.837

2.892

6.613

4

1.898

2.450

3.664

5

2.064

2.377

3.220

6

2.063

2.575

3.302

7

–

2.504

3.233

8

–

–

3.137

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