Table 2 Comparative analysis of CBS and CBS-CIOCA algorithms in two different complex obstacle map scenarios.
From: Conflict-based strategy combined integrated optimal conflict avoidance algorithm
Map size | Path Search Algorithm | Time (seconds) | Node Expansion | Cost Steps |
|---|---|---|---|---|
\(20\times 20\) complex obstacle map | CBS | 3.5617 | 3864 | 38 |
\(20\times 20\) complex obstacle map | CBS-CIOA | 0.1841 | 386 | 38 |
\(30\times 30\) map of complex obstacles | CBS | 10.86 | 7181 | 57 |
\(30\times 30\) map of complex obstacles | CBS-CIOA | 0.4678 | 968 | 61 |
