Table 4 Comparison of traditional A-star, reference 22, reference 24 and improved A-star.
Map | Algorithm | Searchnode (number) | maximum decrease ratio | Search time (s) | maximum decrease ratio | Path length (m) | maximum decrease ratio |
|---|---|---|---|---|---|---|---|
50×50 | Traditional | 224 | 37.5% | 28.3587 | 36.7% | 75.9828 | 1.1% |
Reference 22 | 190 | 24.2225 | 75.9828 | ||||
Reference 24 | 186 | 23.6634 | 75.9828 | ||||
Improved | 140 | 17.9461 | 75.1543 | ||||
80×80 | Traditional | 395 | 34.5% | 56.3440 | 34.2% | 126.9949 | 3.7% |
Reference 22 | 302 | 43.2649 | 127.5391 | ||||
Reference 24 | 302 | 43.3255 | 127.5391 | ||||
Improved | 258 | 37.0905 | 122.8528 | ||||
100×100 | Traditional | 458 | 37.6% | 67.4445 | 37.8% | 152.8944 | 0 |
Reference 22 | 451 | 66.3704 | 152.8944 | ||||
Reference 24 | 379 | 55.1759 | 152.8944 | ||||
Improved | 286 | 41.9672 | 152.8944 |
