Table 2 The medium-size grid map (40x40).

From: Self-adaptive search algorithm for path planning based on the A* algorithm

Algorithm

Path length

Planning time (ms)

Number of expanded nodes

Search coverage

Theta*27

55.59

7.00

995

62.19%

A*

58.67

12.18

1089

68.06%

BA*28

59.84

9.70

641

40.06%

ODDEA*

62.18

5.27

214

13.38%

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