Algorithm | Path length/m | Search time/s | Does the algorithm have the ability to handle dynamic obstacles |
---|---|---|---|
A-Star | 45.36 | 6.72 | No |
IAPF | 48.00 | 10.43 | Yes |
DWA | 48.86 | 28.21 | Yes |
Hybrid algorithm | 46.54 | 8.14 | Yes |
Algorithm | Path length/m | Time for path finding/s | Number of expansion nodes | Is there a turning point |
---|---|---|---|---|
A-Star | 22.42 | 5.9 | 166 | Yes |
Improved A-Star | 21.56 | 5.5 | 59 | No |
Path planning algorithm | Path length/m | Number of nodes passed through | Search time/s |
---|---|---|---|
A-Star Hybrid DWA | 3.66 | 126 | 54.42 |
Hybrid algorithm in this paper | 3.24 | 92 | 48.36 |
Experiment Name | Algorithm | Path length/m | Run time/s | Number of cycles |
---|---|---|---|---|
Path planning testing | APF | 49.970710 | 6.186677 | 447 |
IAPF | 48.003037 | 5.430491 | 440 | |
Complex obstacle testing | APF | ∞ | ∞ | ∞ |
IAPF | 51.519690 | 6.801836 | 451 |