Table 3 Planning time comparison between CBS and CBS-CIOCA algorithms in a \(60\times 30\) complex maze map.
From: Conflict-based strategy combined integrated optimal conflict avoidance algorithm
Map size | Path Search Algorithm | Time(seconds) |
|---|---|---|
\(60\times 30\) complex obstacle map | CBS | 2576.40 |
CBS-CIOCA | 197.71 |
