Table 5 Comparison of traditional A-star, reference 22, reference 24 and improved A-star in different obstacle densities.
Obstacle densities | Algorithm | Search node (number) | Maximum decrease ratio | Search Time (s) | Maximum decrease ratio | Path length (m) | Maximum decrease ratio |
|---|---|---|---|---|---|---|---|
30% | Traditional | 510 | 36.3% | 57.1574 | 35.1% | 159.3797 | 3.0% |
Reference 22 | 443 | 50.7180 | 158.7532 | ||||
Reference 24 | 441 | 49.9876 | 157.9655 | ||||
Improved | 325 | 37.1170 | 154.6518 | ||||
40% | Traditional | 442 | 31.7% | 49.8403 | 30.3% | 174.7107 | 10.8% |
Reference 22 | 421 | 47.8421 | 157.4802 | ||||
Reference 24 | 403 | 45.8155 | 157.4802 | ||||
Improved | 302 | 34.7596 | 155.8234 | ||||
50% | Traditional | 439 | 33.0 % | 49.5075 | 32.1% | 161.0955 | 0 |
Reference 22 | 357 | 40.5390 | 161.0955 | ||||
Reference 24 | 357 | 40.5788 | 161.0955 | ||||
Improved | 294 | 33.6118 | 161.0955 |
