移动机器人路径动态规划有向D*算法
刘军,冯硕,任建华

Directed D* algorithm for dynamic path planning of mobile robots
Jun LIU,Shuo FENG,Jian-hua REN
表 4 不同环境下路径长度对比
Tab.4 Comparison of route length in different environments
ES 有向D* D* Lite Focussed D*
502 72.06 77.09 75.24
1002 155.28 161.49 158.78
5002 828.62 860.72 1 134.80