Table 2 Comparison of performance indexes of three A* algorithms mentioned in the paper.
From: Ship path planning based on improved multi-scale A* algorithm of collision risk function
| Â | Traditional A* algorithm | Multi-scale A* algorithm | The A* algorithm considering collision risk |
|---|---|---|---|
Planning path lengths (m) | 4457.404 | 4205.433 | 4197.796 |
Planning times (s) | 57.468 | 98.763 | 69.073 |
Number of nodes (pcs) | 8053 | 7942 | 7069 |
Optimal paths | No | Yes | Yes |
