Table 5 Performance comparison between algorithms.
From: A smart energy management system for surface unmanned vehicles for border surveillance missions
Initial time | Bidirectional Graph-based algorithm (with static environmental conditions) | A-star algorithm with probabilistic behaviour (with time-variable environmental conditions) | Energy Ratio between A-star and BdG Algorithms (E\(\:ER=\frac{{A}_{star}}{BdG}-1\)) | ||||
|---|---|---|---|---|---|---|---|
Predicted energy | *Corrected energy | Deviation | Mission time | Calculated energy | Mission time | ||
0 h | 2.37 kWh | 2.01 kWh | – 15% | 7,0 h | 2.01 kWh | 7,8 h | + 0% |
5 h | 2.06 kWh | 5.19 kWh | + 152% | 6,3 h | 3.05 kWh | 7,5 h | – 41% |
9 h | 1.64 kWh | 3.49 kWh | + 113% | 6,4 h | 3.09 kWh | 7,4 h | – 11% |
12 h | 2.37 kWh | 2.04 kWh | – 14% | 7,0 h | 2.04 kWh | 7,7 h | + 0% |
